Land-air flying robot and control method thereof

Abstract

This invention discloses a land-to-air flying robot and its control method, relating to the aerospace field. The robot includes a fuselage, fixed wings, a rotor assembly, a folding mechanism, a locomotion device, and a control device. Both the rotor assembly and the folding mechanism are movably connected to the fuselage. The locomotion device is movably connected to the folding mechanism. The control device can adjust the fuselage's attitude via the rotor assembly and can switch the fuselage between vertical and horizontal attitudes. The rotor assembly provides a forward-directing pull on the fuselage. The folding mechanism is located at the tail end of the fuselage. When the nose of the fuselage is facing upwards, the locomotion device propels the fuselage, and the control device controls the folding mechanism to be in an unfolded state. When the robot is flying horizontally, the control device controls the folding mechanism to be in a folded state. In the unfolded state, the distance between the locomotion device and the tail end of the fuselage is greater than the distance in the folded state. This invention expands application scenarios and combines the flexibility of vertical takeoff and landing with the advantages of high-speed fixed-wing flight.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and in particular to a land-air flying robot and its control method. Background Technology

[0002] Traditional aircraft have limited functionality, possessing only the ability to fly. To expand operational scenarios, land-to-air flying robots have emerged. However, currently, these robots primarily integrate wings and adhesion mechanisms into the fuselage to create land-to-air flying robots with wall-attaching capabilities. Nevertheless, this technical solution still suffers from the following significant drawbacks: 1) Limitations in flight performance: Significant bottlenecks in drag and speed during level flight. Existing technologies employ a helicopter-like design architecture, whose core flaw stems from the inherent contradiction between the lift generation mechanism and the aerodynamic shape. This type of design relies on the rotation of a rotor at the top of the fuselage to provide lift. In level flight, the rotor blades create a large frontal surface, and the induced drag, form drag, and interference drag generated during blade rotation superimpose, resulting in overall level flight drag significantly higher than that of conventional fixed-wing aircraft. Actual test data shows that, under the same power input conditions, its level flight speed is typically only 30%-50% of that of fixed-wing aircraft, making it difficult to meet the demands of medium- to long-distance rapid maneuverability or efficient operations. Furthermore, the high drag directly leads to a surge in energy consumption, shortening endurance and further limiting its feasibility for application in large-scale operational scenarios.

[0003] 2) Lack of ground mobility: Severely insufficient operational flexibility Existing land-to-air flying robots can only be fixed in a fixed position (such as a wall or support) via an adsorption mechanism, completely lacking ground mobility. This deficiency leads to significant limitations in operational scenarios: First, when a change of work position is required, the flight system must be restarted to complete the transfer via aerial flight, which is not only time-consuming and labor-intensive but also limited by flight space, such as restricted flight in confined or enclosed environments, making effective transfer impossible; Second, in short-distance transfer scenarios where flight is not possible or not required, manual handling is necessary, reducing operational efficiency, and manual operation is prone to collision damage to the equipment; Third, the fixed adsorption mode cannot adapt to dynamic operational needs and cannot adjust to slight displacements of the target object, limiting its application scope in precision manufacturing, intelligent inspection, and other scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide a land-air flying robot and its control method to solve the problems existing in the prior art. It can combine excellent flight performance with flexible ground mobility to realize the whole process of "rapid air transfer - precise ground positioning", expand the application scenarios of the robot, and is especially suitable for complex working spaces (small sites, long-distance transfer, etc.); it takes into account the advantages of vertical take-off and landing flexibility and fixed-wing high-speed flight.

[0005] To achieve the above objectives, the present invention provides the following solution: This invention provides a land-to-air flying robot, comprising a fuselage, fixed wings, a rotor assembly, a folding device, a locomotion device, and a control device. The fixed wings and the control device are both fixedly connected to the fuselage. The rotor assembly and the folding device are both movably connected to the fuselage. The locomotion device is movably connected to the folding device. The rotor assembly, the folding device, and the locomotion device are all connected to the control device. The control device can adjust the attitude of the fuselage via the rotor assembly and can switch the fuselage between a vertical and a horizontal attitude. The rotor assembly can provide a forward-directing pull on the fuselage. The folding device is located at the tail end of the fuselage. When the nose end of the fuselage is facing upwards, the locomotion device can propel the fuselage. When the flying robot is locomotion, the control device controls the folding device to be in an unfolded state. When the flying robot is flying horizontally, the control device controls the folding device to be in a folded state. When the folding device is in an unfolded state, the distance between the locomotion device and the tail end of the fuselage is greater than the distance when the folding device is in a folded state.

[0006] Preferably, the device further includes an attitude detection device. The walking device includes two walking wheels and two walking drive devices, which correspond one-to-one. The attitude detection device is communicatively connected to the control device and is used to detect the attitude of the fuselage. Each walking drive device is connected to the control device, and the control device can control the rotation speed of the two walking wheels through the two walking drive devices to enable the fuselage to perform dynamic balance walking.

[0007] Preferably, the folding device includes two folding units, each folding unit including a driven leg, a connecting leg, an active leg, and a joint drive device. The first end of each driven leg is movably connected to the fuselage, and the second end of each driven leg is movably connected to the first end of the corresponding connecting leg. The second ends of the two connecting legs are respectively connected to the two walking wheels. The first end of each active leg is rotatably connected to the corresponding joint drive device about an extension axis. Each extension axis is parallel to the width direction of the fuselage. The second end of each active leg is movably connected to the first end of the corresponding connecting leg. Each joint drive device is connected to the control device. Each joint drive device can drive the corresponding active leg to rotate about the corresponding extension axis, thereby causing the corresponding walking wheel to move towards or away from the fuselage.

[0008] Preferably, it further includes multiple elastic components, with at least one elastic component disposed between the active leg and the connecting leg of each folding unit; when each joint driving device drives the corresponding active leg to rotate around the corresponding extension axis and moves the corresponding walking wheel toward the fuselage, the corresponding active leg and the corresponding connecting leg can compress the corresponding elastic component and store energy in the corresponding elastic component; when each elastic component releases energy, it enables the flying robot to perform a jumping action.

[0009] Preferably, the rotor device includes at least two rotor assemblies, each rotor assembly including a propeller, a support rod, and a blade drive device. The first end of each support rod is fixedly connected to the fuselage, and each support rod extends along the length direction of the fuselage. Each propeller is rotatably connected to the second end of the corresponding support rod about a tilt axis, the tilt axis being parallel to the width direction of the fuselage. Each blade drive device is connected to the control device, and each blade drive device is connected to the corresponding propeller and can drive the corresponding propeller to rotate about the corresponding tilt axis.

[0010] Preferably, it also includes a barometer, and the attitude detection device includes a gyroscope and an accelerometer; the gyroscope, the accelerometer, and the barometer are all connected to the fuselage and are all communicatively connected to the control device. The gyroscope is used to obtain the attitude angle of the fuselage, the accelerometer is used to obtain the acceleration of the fuselage, and the barometer is used to obtain the height of the fuselage.

[0011] The present invention also provides a control method for the aforementioned land-air flying robot, comprising the following steps: The control method for controlling the flying robot to walk on the ground includes: making the front end of the fuselage face upward, controlling the folding device to be in an unfolded state through the control device, making the walking device contact the ground, and driving the flying robot to walk on the ground through the walking device; The control method for controlling the flying robot to take off vertically includes: positioning the flying robot in a vertical attitude, providing an upward thrust to the fuselage through the rotor device, so that the flying robot can take off vertically and fly vertically upward. The control method for controlling the flying robot to fly horizontally includes: when the flying robot flies to a set altitude, the control device adjusts the attitude of the flying robot through the rotor device and transitions the flying robot from a vertical attitude to a horizontal attitude; the rotor device provides forward thrust to the fuselage to keep the flying robot flying horizontally; and the control device controls the folding device to be in a folded state. The control method for controlling the flying robot to make a vertical landing includes: the control device adjusting the attitude of the flying robot through the rotor device and transitioning the flying robot from a horizontal attitude to a vertical attitude, providing an upward pull to the fuselage through the rotor device, and causing the flying robot to fall vertically to the ground.

[0012] Preferably, when the flying robot takes off vertically, the control device controls each of the folding devices to be in the unfolded state, or the control device controls each of the folding devices to perform a folding action and puts the corresponding folding device in a fully folded state or a partially folded state. If the flying robot enters a level flight state and each of the folding devices is in the unfolded state or the partially folded state, then the control device controls each of the folding devices to perform a folding action and puts the corresponding folding device in a fully folded state. When the flying robot makes a vertical landing, the control device controls each of the folding devices to perform an unfolding action and puts the corresponding folding device in a fully unfolded state or a partially folded state. When the flying robot is walking on the ground, the control device controls each of the folding devices to be in a fully unfolded state or a partially folded state.

[0013] Preferably, it further includes an attitude detection device. The walking device includes two walking wheels and two walking drive devices, each corresponding to one other. The attitude detection device is communicatively connected to the control device and is used to detect the attitude of the fuselage. Each walking drive device is connected to the control device, and the control device can control the rotation speed of the two walking wheels through the two walking drive devices to enable the fuselage to move in a dynamic and balanced manner. Each folding unit includes a driven leg, a connecting leg, an active leg, and a joint drive device. The first end of each driven leg is movably connected to the fuselage. The second end of the driven leg is movably connected to the first end of the corresponding connecting leg; the second ends of the two connecting legs are respectively connected to the two walking wheels; the first end of each active leg is rotatably connected to the corresponding joint drive device about an extension axis, each extension axis being parallel to the width direction of the machine body; the second end of each active leg is movably connected to the first end of the corresponding connecting leg; each joint drive device is connected to the control device; each joint drive device can drive the corresponding active leg to rotate about the corresponding extension axis, thereby enabling the corresponding walking wheel to move towards or away from the machine body; The method by which the control device controls the unfolding of the folding device includes: the control device drives the two active legs to rotate around the corresponding extension axis through the two joint drive devices, and causes the end of each active leg away from the body to rotate in a direction away from the head end of the body, so as to unfold the folding device; The method by which the control device controls the folding device to fold includes: the control device drives the two active legs to rotate around the corresponding extension axis through the two joint drive devices, and rotates the end of each active leg away from the body towards the head end of the body, so as to fold the folding device.

[0014] Preferably, it further includes multiple elastic components, with at least one elastic component disposed between the active leg and the connecting leg of each folding unit; when each joint drive device drives the corresponding active leg to rotate around the corresponding extension axis and moves the corresponding walking wheel toward the fuselage, the corresponding active leg and the corresponding connecting leg can compress the corresponding elastic component and store energy in the corresponding elastic component; when each elastic component releases energy, it enables the flying robot to perform a jumping action; The control method for controlling the vertical takeoff of the flying robot further includes: before activating the rotor device, driving the corresponding active leg to rotate around the corresponding extension axis and fold the corresponding folding unit through each joint drive device, so that the corresponding elastic component stores energy; causing each elastic component to release energy instantaneously after storing energy, so that the flying robot performs a jumping action; after the flying robot jumps upward, activating the rotor device and providing upward thrust to the flying robot to achieve vertical takeoff of the flying robot; The control method for the flying robot to walk on the ground further includes: when there is an obstacle in front of the flying robot, causing the flying robot to perform the jumping action to jump over the obstacle.

[0015] The present invention achieves the following technical effects compared to the prior art: This invention provides a land-air flying robot and its control method, including a fuselage, a fixed wing, a rotor assembly, a folding device, a locomotion device, and a control device. The fixed wing and control device are fixedly connected to the fuselage, the rotor assembly and folding device are movably connected to the fuselage, and the locomotion device is movably connected to the folding device. The rotor assembly, folding device, and locomotion device are all connected to the control device. The control device can adjust the fuselage's attitude via the rotor assembly and can switch the fuselage between a vertical and a horizontal attitude. The rotor assembly can provide a forward-directing pull on the fuselage. The folding device is located at the tail end of the fuselage. When the nose end of the fuselage is facing upwards, the locomotion device can propel the fuselage. When the flying robot is locomotion, the control device controls the folding device to be in an unfolded state. When the flying robot is flying horizontally, the control device controls the folding device to be in a folded state. When the folding device is in an unfolded state, the distance between the locomotion device and the tail end of the fuselage is greater than the distance when the folding device is in a folded state.

[0016] The flying robot of this invention can both fly in the air and walk on the ground. When walking on the ground, its fuselage is head-up, and the body moves in a "standing" position. It can flexibly switch between close-range positions without manual handling or reliance on flight, greatly improving operational efficiency and application flexibility. When the flying robot walks on the ground, the folding device unfolds, keeping the walking device away from the tail of the fuselage. This avoids mechanical interference and collisions between the walking device and the tail, tail fin, or other components of the fuselage due to ground disturbances, attitude fluctuations, and impact vibrations. This prevents structural wear, jamming, or even damage caused by these factors, and ensures that the walking device has sufficient travel range and adjustment margin to guarantee the normal operation of all basic walking movements. During flight, the rotor system consistently provides a forward-directing pull to the fuselage. Specifically, during vertical takeoff, the rotor provides an upward pull. Once the robot reaches a set altitude, it can be gradually tilted forward to a horizontal position via the rotor system. During level flight, the rotor provides a forward-directing pull, reducing drag and improving speed, range, and stability, thus ensuring optimal flight performance. During level flight, the folding mechanism remains folded, allowing the walking mechanism to be positioned close to the rear of the fuselage, keeping the ground mobility system folded and reducing air resistance. This invention provides a multimodal robot with both excellent flight performance and flexible ground mobility, enabling a complete "rapid aerial transfer - precise ground positioning" process. This expands the robot's application scenarios, making it particularly suitable for complex workspaces (confined areas, long-distance transfers, etc.). Attached Figure Description

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

[0018] Figure 1 This is a front view of the land-air flying robot provided in Example 1; Figure 2 This is a side view of the land-air flying robot with its wheels and legs folded, as provided in Example 1. Figure 3 This is a side view of the land-air flying robot with its wheels and legs deployed, as provided in Example 1. Figure 4 A top view of the land-air flying robot provided in Example 1; Figure 5 An isometric view of the land-air flying robot provided in Example 1; Figure 6Schematic diagram of the rotor device provided in Example 1 Figure 1 ; Figure 7 Schematic diagram of the rotor device provided in Example 1 Figure 2 ; In the diagram: 100. Land-to-air flying robot; 1. Rotor unit; 2. Fixed wing; 3. Elevator; 4. Walking device; 5. Support rod; 6. Joint drive device; 7. Connecting leg; 8. Active leg; 9. Driven leg; 10. Fairing; 11. Outer wing section; 12. Inner wing section; 13. Fuselage. Detailed Implementation

[0019] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described invention is only a part of this invention, not all of it. All other inventions obtained by those skilled in the art based on this invention without inventive effort are within the scope of protection of this invention.

[0020] It should be noted that in the description of this invention, the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "center," "longitudinal," "transverse," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "clockwise," and "counterclockwise," etc., indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Additionally, it should be noted that in the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] The purpose of this invention is to provide a land-air flying robot and its control method to solve the problems existing in the prior art. It can combine excellent flight performance with flexible ground mobility to realize the whole process of "rapid air transfer - precise ground positioning", expand the application scenarios of the robot, and is especially suitable for complex working spaces (small sites, long-distance transfer, etc.); it takes into account the advantages of vertical take-off and landing flexibility and fixed-wing high-speed flight.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Example 1 like Figures 1-7 As shown, this embodiment provides a land-air flying robot 100, including a fuselage 13, a fixed wing 2, a rotor assembly 1, a folding device, a locomotion device 4, and a control device. The fixed wing 2 and the control device are both fixedly connected to the fuselage 13. The rotor assembly 1 and the folding device are both movably connected to the fuselage 13. The locomotion device 4 is movably connected to the folding device. The rotor assembly 1, the folding device, and the locomotion device 4 are all connected to the control device. The control device can adjust the attitude of the fuselage 13 through the rotor assembly 1 and can switch the fuselage 13 between a vertical attitude and a horizontal attitude. The rotor device 1 provides a pulling force to the fuselage 13 pointing forward; the folding device is located at the tail end of the fuselage 13; when the nose end of the fuselage 13 is facing upward, the walking device 4 can drive the fuselage 13 to walk; when the flying robot is walking, the control device controls the folding device to be in the unfolded state; when the flying robot is flying horizontally, the control device controls the folding device to be in the folded state; when the folding device is in the unfolded state, the distance between the walking device 4 and the tail end of the fuselage 13 is greater than the distance between the walking device 4 and the tail end of the fuselage 13 when the folding device is in the folded state.

[0024] The flying robot of this embodiment can both fly in the air and walk on the ground. When walking on the ground, the fuselage 13 is head-up, and walks in a "standing" position. It can flexibly switch between close-range positions without manual handling or reliance on flight, greatly improving work efficiency and application flexibility. When the flying robot walks on the ground, the folding device unfolds, keeping the walking device 4 away from the tail of the fuselage 13. This avoids mechanical interference and collisions between the various components of the walking device 4 and the tail, tail fin, or other components of the fuselage 13 due to ground disturbances, attitude fluctuations, and impact vibrations. This prevents structural wear, jamming, or even damage, and ensures that the walking device 4 has sufficient movement stroke and adjustment margin to guarantee the normal operation of all basic walking movements. During flight, the rotor device 1 consistently provides a forward-directing pull to the fuselage 13. Specifically, during vertical takeoff, the rotor device 1 provides an upward pull to the fuselage 13. Once the robot reaches a set altitude, the rotor device 1 and other mechanisms can be used to adjust the robot's forward tilt, allowing the fixed wing 2 to engage and transition to a horizontal attitude. The robot then enters level flight, where the rotor device 1 provides a forward-directing pull to the fuselage 13, reducing drag, increasing flight speed, range, and stability, and ensuring flight performance. During level flight, the folding device remains folded, allowing the walking device 4 to be positioned close to the tail of the fuselage 13, thus keeping the ground mobility system folded and reducing air resistance. This embodiment provides a multimodal robot with both excellent flight performance and flexible ground mobility, enabling a complete "rapid aerial transfer - precise ground positioning" process. This expands the robot's application scenarios, making it particularly suitable for complex workspaces (confined areas, long-distance transfers, etc.).

[0025] In some embodiments, the flying robot adopts a tail-seat aircraft takeoff and landing design. During vertical takeoff, the robot uses the walking device 4 as a support point, with the fuselage 13 axis perpendicular to the ground. Vertical lift is provided by the rotor device 1, enabling vertical takeoff. Once the flying robot reaches a set altitude, the rotor device 1 adjusts the robot to slowly tilt forward, transitioning to a horizontal attitude. At this time, the rotor device 1 provides forward thrust, reducing drag during level flight. Conversely, during descent, the flying robot gradually transitions from a level flight attitude to a vertical attitude for a precise vertical landing. In ground operation mode, the rotor device 1 and other flight propulsion systems are shut down and their attitude locked, ensuring the robot's power efficiency and operational safety in different operating scenarios. This embodiment's tail-seat aircraft takeoff and landing / level flight switching mechanism balances the flexibility of vertical takeoff and landing with the advantages of high-speed flight of the fixed-wing aircraft 2.

[0026] In some embodiments, the device further includes an attitude detection device. The walking device 4 includes two walking wheels and two walking drive devices, each corresponding to one other. The attitude detection device is communicatively connected to the control device and is used to detect the attitude of the body 13. Each walking drive device is connected to the control device, which can control the rotation speed of the two walking wheels through the two walking drive devices to enable the body 13 to move in a dynamic balance. The control device receives data from the attitude detection device in real time and dynamically adjusts the rotation speed of the two walking wheels, using the difference in rotation speed between the left and right wheels to achieve actions such as straight-line movement and turning. The control device fine-tunes the attitude of the active leg 8 in real time through the joint drive device 6, thereby fine-tuning the attitude of the folding device to ensure that the walking device 4 always keeps in contact with the ground and improves the stability of movement.

[0027] In some embodiments, the folding device includes two folding units, each folding unit including a driven leg 9, a connecting leg 7, an active leg 8, and a joint drive device 6. The first end of each driven leg 9 is movably connected to the body 13, and the second end of each driven leg 9 is movably connected to the first end of the corresponding connecting leg 7. The second ends of the two connecting legs 7 are respectively connected to the two walking wheels. The first end of each active leg 8 is rotatably connected to the corresponding joint drive device 6 about an extension axis. Each extension axis is parallel to the width direction of the body 13. The second end of each active leg 8 is movably connected to the first end of the corresponding connecting leg 7. Each joint drive device 6 is connected to the control device. Each joint drive device 6 can drive the corresponding active leg 8 to rotate about the corresponding extension axis, thereby enabling the corresponding walking wheel to move towards or away from the body 13.

[0028] In some embodiments, multiple elastic components are further included, with at least one elastic component disposed between the active leg 8 and the connecting leg 7 of each folding unit. When each joint drive device 6 drives the corresponding active leg 8 to rotate around the corresponding extension axis and moves the corresponding walking wheel towards the fuselage 13, the corresponding active leg 8 and the corresponding connecting leg 7 can compress the corresponding elastic component and store energy in the corresponding elastic component. When each elastic component releases energy, it enables the flying robot to perform a jumping action. The joint drive device 6 drives the corresponding folding device to perform a folding action, allowing the elastic component to store energy. Then, by instantaneously releasing the energy of the elastic component, a jumping action is achieved. On the one hand, it can achieve obstacle crossing function; on the other hand, it can activate the rotor device 1 during the jump to assist in takeoff. The elastic component can also act as a shock absorber during the contact between the walking device 4 and the ground. Specifically, the joint drive device 6 is used to directly drive the linkage mechanism to swing, providing direct driving force and jumping energy for the robot's jump. Its working principle is as follows: 1. Pre-swing energy storage stage: The joint drive device 6 outputs torque, driving the folding unit to swing backward and upward to a preset take-off angle, giving the body 13 a certain take-off posture. Simultaneously, the joint drive device 6 continuously outputs torque, storing instantaneous power for the upcoming jump. 2. Rapid push-off and jump stage: The joint drive device 6 instantaneously outputs a large reverse torque, driving the folding unit to swing forward and downward rapidly, causing the wheels to contact the ground and generate a large ground reaction force. The mechanical energy output by the joint drive device 6 is transferred to the wheels through the folding unit, converting it into the robot's overall vertical upward kinetic energy, enabling the robot to overcome gravity and jump off the ground. 3. In-air posture adjustment stage: After jumping off the ground, the joint drive device 6 can adjust the swing angle of the active leg 8 in real time, cooperating with the posture detection device to achieve stable control of the in-air posture, ensuring a controllable landing posture. 4. Landing buffer stage: Upon landing, the joint drive device 6 can operate in a damped state or cooperate with elastic components to absorb impact energy, reducing the impact of landing. This embodiment can be adapted to slightly complex road surfaces such as grass and gravel roads, ensuring the flexibility and stability of ground maneuverability, and expanding its applicability to uneven sites such as the field and factory areas.

[0029] In some embodiments, the rotor device 1 includes at least two rotor assemblies, each rotor assembly including a propeller, a support rod 5, and a blade drive device. The first end of each support rod 5 is fixedly connected to the fuselage 13, and each support rod 5 extends along the length direction of the fuselage 13. Each propeller is rotatably connected to the second end of its corresponding support rod 5 about a tilt axis, which is parallel to the width direction of the fuselage 13. Each blade drive device is connected to the control device and is connected to its corresponding propeller, capable of driving the corresponding propeller to rotate about its corresponding tilt axis. When the nose of the fuselage 13 is upward (e.g., the fuselage 13 is in a vertical attitude), the control device controls the propeller to rotate about the tilt axis via the blade drive device, making the propeller's rotation axis parallel to the length direction of the fuselage 13. When the fuselage 13 is in a horizontal attitude, the control device controls the propeller to rotate about the tilt axis via the blade drive device, making the propeller's rotation axis perpendicular to the length direction of the fuselage 13.

[0030] In some embodiments, a barometer is also included. The attitude detection device includes a gyroscope and an accelerometer. The gyroscope, the accelerometer, and the barometer are all connected to the fuselage 13 and are all communicatively connected to the control device. The gyroscope is used to obtain the attitude angle of the fuselage 13, the accelerometer is used to obtain the acceleration of the fuselage 13, and the barometer is used to obtain the height of the fuselage 13.

[0031] In some embodiments, the flying robot adopts a blended wing-body integrated aerodynamic design: employing a tailless blended wing-body (BWB) layout, the fuselage 13 and wing smoothly transition to form an integrated lifting surface, eliminating the aerodynamic separation surface between the wing and fuselage 13, significantly reducing induced drag, improving lift-to-drag ratio, and enhancing flight stability. The midsection of fuselage 13 adopts a wide-body streamlined design, and the wing uses a medium aspect ratio and supercritical airfoil. This configuration achieves a good balance between lift-to-drag ratio optimization and structural strength maintenance, taking into account both high-speed level flight lift-to-drag ratio and low-speed vertical takeoff and landing stability. The forward section of fuselage 13 integrates a streamlined avionics nacelle, and the aft section houses the power nacelle. The overall aerodynamic shape is optimized through CFD simulation, eliminating airflow interference from traditional separate structures, reducing level flight drag compared to existing helicopter-like configurations, increasing level flight speed by 60%-80% (≥120km / h) with the same power, and extending endurance. Meanwhile, elevons 3 are arranged on the trailing edge of the wing, and elevons 3 are symmetrically arranged on both wings. They serve as the main flight control surfaces to achieve precise control of flight attitude, reduce the dependence of the flight control system on the rotor, and adjust the attitude of the fuselage 13 by adjusting the thrust magnitude and direction of the rotor and the wing control surfaces. For example, the fuselage 13 can be slowly tilted forward from a vertical attitude to a level flight attitude. At this time, the lift generated by the blended wing-body layout becomes the main flight power, and the rotor provides forward thrust, which improves flight stability in complex airflow environments.

[0032] In some embodiments, the walking drive device is a drive wheel motor, which is fixedly connected to the body 13 and connected to the walking wheel to drive the corresponding walking wheel to rotate.

[0033] In some embodiments, two sets of running wheels and folding units are symmetrically arranged at the bottom of the fuselage 13 to form a dual-wheel landing gear. Each set of landing gear includes a lightweight high-strength folding unit (wheel frame), running wheels, and elastic components set on the folding unit. The wheel frame is made of carbon fiber composite material and is driven to retract and extend by a joint drive device 6.

[0034] In some embodiments, the driven leg 9 is hinged to the body 13, the driven leg 9 is hinged to the connecting leg 7, the driving leg 8 is hinged to the connecting leg 7, and the connecting leg 7 is hinged to the body 13.

[0035] In some embodiments, the elastic component is a torsion spring, and the two torsion arms of the torsion spring are respectively connected to the active leg 8 and the connecting leg 7. The torsion spring can be sleeved on the pin connecting the active leg 8 and the connecting leg 7.

[0036] In some embodiments, the propeller drive unit is an electromechanical integrated transmission component, including a propeller drive motor (preferably a servo motor), a reduction gear set, etc., which can drive the propeller to tilt around the tilt axis to achieve an attitude tilt range of 0-90°. By adjusting the rotation angle and motor speed difference of the two propeller drive motors, the robot can switch between multiple modes of flight attitude, such as vertical take-off and landing, hovering, horizontal cruise, turning, and rolling, ensuring the flexibility and stability of aerial operations. The propeller drive motor is a high-power-density brushless motor, and the two propeller drive units are respectively arranged on the left and right sides of the wing, achieving multi-modal flight capability through vector thrust control. The high-power-density brushless motor has the characteristics of fast start-stop response, stable output torque, and excellent endurance efficiency, providing the core power source for flight. The motor controller (ESC) achieves precise closed-loop speed regulation to meet the power requirements under different flight conditions.

[0037] In some embodiments, the first end of each driven leg 9 is rotatably connected to the fuselage 13 via a pivot, and the second end of each driven leg 9 is rotatably connected to the first end of the corresponding connecting leg 7 via a pivot. A fairing 10 is provided outside the pivot between the driven leg 9 and the fuselage 13 to achieve aerodynamic rectification, improve stability, and reduce aerodynamic drag during flight. The active leg 8 is rotatably connected to the connecting leg 7 via a lightweight pivot. The joint drive device 6 includes a joint motor and a reducer. The output end of the joint motor is connected to the reducer, and the reducer is movably connected to the active leg 8. The rotation angle of the joint motor controls the active leg 8 to rotate around an axis parallel to the width direction of the fuselage 13.

[0038] In some embodiments, the joint motors are high-precision servo motors with closed-loop angle control capabilities. They are mainly used to drive the unfolding, folding, and attitude adjustment of the folding device (landing gear linkage mechanism), providing structural attitude support for ground movement and jumping actions. The drive wheel motors are DC geared motors equipped with planetary gear reduction mechanisms, offering high output torque and a wide speed adjustment range. By using the speed difference between the left and right walking wheels, the robot achieves basic ground movement functions such as straight-line movement and turning, adapting to the cruising requirements of flat and slightly uneven surfaces.

[0039] In some embodiments, the folding device (the driven leg 9, connecting leg 7, and driving leg 8 form a linkage mechanism, also known as a landing gear linkage mechanism) is a multi-degree-of-freedom mechanical transmission structure made of high-strength, lightweight materials, combining structural rigidity and motion flexibility: when moving on the ground, the linkage mechanism remains in the unfolded state, the wheels are in full contact with the ground, and the drive wheel motor provides traction to achieve smooth movement; when encountering an obstacle, the joint drive motor drives the linkage mechanism to retract and store energy, and then releases it instantaneously to achieve a jumping action. The obstacle crossing height, the stroke of the landing gear linkage mechanism, and the output power of the joint motor are precisely matched to ensure the stability and reliability of the obstacle crossing process.

[0040] In some embodiments, the propeller uses aerodynamically optimized multi-bladed blades that are precisely matched with the output characteristics of the blade drive motor. Through high-speed rotation, it generates upward lift and horizontal thrust, ensuring that the robot obtains sufficient lift and thrust for flight.

[0041] In some embodiments, the entire aircraft is 3D printed using lightweight polymer composite materials, offering advantages such as low density and high forming precision. This allows for accurate replication of aerodynamic airfoils, reducing structural redundancy. Preferably, the fuselage 13 is constructed using high-strength foamed 3D printing material, combined with a modular design. This material possesses both excellent structural strength and lightweight characteristics, and the foamed 3D printing process can directly form streamlined surfaces, ensuring aerodynamic integrity without additional polishing, further reducing drag during level flight and meeting the aerodynamic design requirements of a blended wing-body layout. Furthermore, foamed 3D printing supports rapid mass production, shortening the production cycle compared to traditional mold forming and reducing manufacturing costs. The modular design allows for individual replacement of damaged components (such as landing gear wheelsets or sensor brackets) without requiring complete disassembly, significantly simplifying maintenance procedures and reducing maintenance costs.

[0042] In some embodiments, the fuselage 13 includes an outer wing section 11 and an inner wing section 12 connected in sequence. A carbon tube main beam is fixedly connected to the fuselage 13. Preferably, there are two carbon tube main beams. The carbon tube main beams run through the entire wing and fuselage 13 along the spanwise direction. With their high strength and high modulus characteristics, they bear the main load and form a "rigid-flexible complementary" mechanical fit with the lightweight printing material. While reducing the weight by more than 30%, the structural rigidity is maintained, significantly improving the range and maneuverability, and achieving an engineering balance between lightweighting and load-bearing capacity.

[0043] Example 2 This embodiment provides a control method for the land-air flying robot 100 described in Embodiment 1, including the following steps: The control method for controlling the flying robot to walk on the ground includes: making the head end of the fuselage 13 face upward, controlling the folding device to be in the unfolded state through the control device, making the walking device 4 contact the ground, and driving the flying robot to walk on the ground through the walking device 4; The control method for controlling the flying robot to take off vertically includes: positioning the flying robot in a vertical attitude, providing an upward thrust to the fuselage 13 through the rotor device 1, so that the flying robot can take off vertically and fly vertically upward. The control method for controlling the flying robot to fly horizontally includes: when the flying robot flies to a set altitude, the control device adjusts the attitude of the flying robot through the rotor device 1 and transitions the flying robot from a vertical attitude to a horizontal attitude; the rotor device 1 provides forward thrust to the fuselage 13 to keep the flying robot flying horizontally; and the control device controls the folding device to be in a folded state. The control method for controlling the flying robot to make a vertical landing includes: the control device adjusting the attitude of the flying robot through the rotor device 1 and transitioning the flying robot from a horizontal attitude to a vertical attitude, the rotor device 1 providing an upward pull to the fuselage 13 and causing the flying robot to fall vertically to the ground.

[0044] In some embodiments, when the flying robot takes off vertically, the control device controls each of the folding devices to be in the unfolded state, or the control device controls each of the folding devices to perform a folding action and puts the corresponding folding device in a fully folded state or a partially folded state. If the flying robot enters a level flight state and each of the folding devices is in the unfolded state or the partially folded state, then the control device controls each of the folding devices to perform a folding action and puts the corresponding folding device in a fully folded state. When the flying robot makes a vertical landing, the control device controls each of the folding devices to perform an unfolding action and puts the corresponding folding device in a fully unfolded state or a partially folded state. When the flying robot is walking on the ground, the control device controls each of the folding devices to be in a fully unfolded state or a partially folded state.

[0045] In some embodiments, the method of the control device controlling the unfolding of the folding device includes: the control device driving the two active legs 8 to rotate around the corresponding extension axis through the two joint drive devices 6 respectively, and causing the end of each active leg 8 away from the body 13 to rotate in a direction away from the head end of the body 13, so as to unfold the folding device; The method by which the control device controls the folding device to fold includes: the control device drives the two active legs 8 to rotate around the corresponding extension axis through the two joint drive devices 6 respectively, and causes the end of each active leg 8 away from the body 13 to rotate towards the head end of the body 13, so as to fold the folding device.

[0046] In some embodiments, the control method for controlling the vertical takeoff of the flying robot further includes: before activating the rotor device 1, driving the corresponding active leg 8 to rotate around the corresponding extension axis and fold the corresponding folding unit through each joint drive device 6, so that the corresponding elastic component stores energy; causing each elastic component to release energy instantaneously after storing energy, so that the flying robot performs a jumping action; after the flying robot jumps upward, activating the rotor device 1 and providing an upward pull to the flying robot to achieve the vertical takeoff of the flying robot; The control method for the flying robot to walk on the ground further includes: when there is an obstacle in front of the flying robot, causing the flying robot to perform the jumping action to jump over the obstacle.

[0047] The power system of the flying robot in this embodiment consists of two main parts: a flight power system (fixed wing 2, attitude detection device, rotor device 1, elliptical aileron 3, etc.) and a ground mobility power system (folding device, walking device 4, etc.). These two parts are modularly designed. They are independent in structure and function, but can also be coordinated and scheduled through a control device. The flight power system is the core execution unit for air attitude control, flight cruise and maneuver avoidance. The ground mobility power system undertakes the robot's ground movement, attitude adjustment and obstacle crossing functions, thereby realizing air-ground multimodal mobility (air flight mode + ground movement mode dual mode). It can cover a variety of tasks such as field reconnaissance, emergency material transportation, low-altitude operation support, precision manufacturing inspection, etc. It can realize the full-process operation mode of "rapid air arrival - precise ground operation - dynamic follow-up adjustment", which expands the scope of application by more than 50% compared with traditional single-function equipment.

[0048] This embodiment features three core operating modes: "Flight Mode," "Ground Maneuvering Mode," and "Mode Switching Mode." Each mode is independently controllable and can be seamlessly switched. (1) Flight Mode Vertical takeoff and landing mode: Triggering conditions: The device is stationary or moving on the ground, and receives a "takeoff" command or a preset takeoff program is initiated. Core Actions: There are two takeoff modes: 1) The robot is stationary on the ground, and the dual rotors output full power to generate lift and achieve takeoff; 2) The robot achieves a bouncy takeoff (jumping and then flying) through a dual-wheeled leg structure: the dual-wheeled leg landing gear retracts downward to store energy and complete the preparation action, and releases energy through the motor drive to complete the bouncy. At the same time, the rotors start working to generate lift, realizing the bouncy takeoff of the flying robot.

[0049] Level flight cruise mode: Triggering conditions: The hovering altitude reaches the preset altitude, a "level flight" command is received, or a long-distance transfer is required by the path planning. Core action: The flying robot transitions from a vertical to a horizontal attitude by using the rotor device 1 to provide a horizontal forward thrust to the fuselage 13, thus keeping the flying robot in level flight; Hovering operation mode: Triggering conditions: Fly to the target area and receive the "hover operation" command; Core actions: Dynamic adjustment of rotor lift to maintain the fuselage hovering at 13 meters (hovering accuracy ≤ ±0.3m), fine adjustment of wing control surfaces to counteract airflow interference, and activation and execution of operational equipment (such as cameras and sensors).

[0050] (2) Ground Mobility Mode Straight-line movement is the most basic maneuvering mode, relying on the synchronous control of dual-wheel differential drive. Both the left and right legs of the robot are powered, forming a stable "dual-drive" structure. Power distribution follows a "balanced output" principle, with lithium batteries supplying independent servo motors to the left and right wheels, ensuring a wheel speed difference of ≤3%, achieving stepless adjustment of straight-line speed from 0.5-2 km / h. For attitude control, gyroscopes and accelerometers monitor the tilt of the robot body 13 at a 100Hz sampling rate. When uneven road surfaces cause a tilt angle >5°, the LQR algorithm adjusts the power of one side's leg in real time to correct the attitude error and ensure smooth straight-line movement. When road surface excitation causes a tilt angle exceeding 5°, closed-loop attitude control adjusts the power output of one side's leg in real time and dynamically adjusts the leg length (by controlling the folding device to appropriately unfold or fold the leg length) to achieve attitude compensation, quickly suppressing attitude errors and ensuring vehicle stability and smoothness during straight-line movement.

[0051] The steering action is based on the "differential principle," and the lack of omnidirectional capability dictates that it must rely on the turning radius to complete directional adjustments. When steering is required, the control device calculates the speed difference between the inner and outer wheels based on the target steering angle using a kinematic model.

[0052] The climbing ability relies on a collaborative mechanism of "power compensation + posture adaptation". For slopes ≤15°, the system automatically increases the output power of the dual-wheel motors to compensate for the power loss caused by gravity. At the same time, the leg joints adjust their angles through the joint drive device 6, tilting the body 13 forward by 5-10° when going uphill and tilting it backward by 5-10° when going downhill, shifting the center of gravity forward into the support range of the power wheels to prevent tipping over. Specifically, the joint drive device 6, the active leg 8, the driven leg 9, and the connecting leg 7 are connected to form a closed-loop linkage structure (four-bar linkage). The control device controls the joint drive device 6 according to the slope angle, driving the four-bar linkage to swing forward (uphill) synchronously. Under the constraint transmission of the four-bar linkage, the body 13 tilts forward by 5° to 10°, achieving a forward tilt. Through this forward tilt, the robot's center of gravity moves forward and downward, always falling within the stable support area formed by the grounding of the dual wheels, structurally offsetting the backward tilting torque caused by gravity during climbing, and achieving stable climbing in conjunction with power compensation. After detecting the downhill angle, the control device controls the four-bar linkages on both sides to swing backward (in the opposite direction of the downhill slope) synchronously. Under the constraint of the four-bar linkage, the robot body 13 tilts backward by 5° to 10°, causing the robot's center of gravity to shift backward and downward, always remaining within the dual-wheel support area. This counteracts the forward tilting torque caused by gravity during downhill movement, preventing the robot body 13 from tipping forward. The bottom of the wheels uses high-friction coefficient rubber treads to improve ground grip and prevent slippage during climbing. The attitude control device monitors the slope angle in real time and dynamically adjusts the force distribution on the wheels to ensure structural stability.

[0053] The power accumulation for the jump relies on a collaborative structure of "joint drive motor - elastic component," similar to the energy storage principle of a slingshot. The robot's legs integrate high-strength elastic components (preferably helical springs) and joint drive motors (preferably micro servo motors). Upon receiving a jump command, the joint drive motors drive the linkage mechanism to compress the springs to a preset stroke, completing energy accumulation. Thanks to the lightweight body 13 produced by foam 3D printing, excessive thrust is not required to meet the jump requirements. The instantaneous spring rebound generates an upward burst of force, propelling the robot off the ground.

[0054] Ground attitude control is key to avoiding rollover, relying on sensors and dual-wheel coordinated adjustment: at the moment of takeoff, gyroscopes and accelerometers monitor the attitude of the fuselage at a sampling rate of 100Hz. If a tilting trend is detected, the control device immediately fine-tunes the speed difference between the two wheels and generates a reverse torque by slightly braking one side of the wheel to correct the attitude deviation.

[0055] The landing cushioning system utilizes a dual approach of passive shock absorption and material elasticity to reduce impact damage. Upon landing, both wheels maintain a slight rotation, which, combined with the high-friction rubber tread, enhances grip and prevents slippage.

[0056] The flight mode is centered on the flight propulsion system, with the ground system assisting in drag reduction. After the control unit issues a flight command, the landing gear linkage mechanism of the ground maneuvering propulsion system retracts, and the drive wheel motors stop and lock to avoid generating air resistance. The flight propulsion system starts, and the left and right brushless DC motors drive the propellers to rotate at high speed to generate lift. The attitude is adjusted through the blade drive device (servo motor), and the motor speed difference is used to achieve vertical takeoff and landing, hovering, or horizontal cruise. The control unit receives data from the attitude detection device in real time and dynamically fine-tunes the motor speed and rotor tilt angle to ensure flight attitude stability.

[0057] In ground movement mode, the flight propulsion system is on standby, and the ground system is fully engaged. Upon switching to ground mode, the flight propulsion system motors stop, and rotor assembly 1 locks into its initial attitude. Figure 1 The posture shown (i.e., the rotation axis of rotor 1 is parallel to the length direction of fuselage 13) reduces space occupation; the landing gear linkage mechanism unfolds, the running wheels are in close contact with the ground, and the drive wheel motor achieves straight-line movement and turning by means of the speed difference between the left and right wheels through closed-loop speed adjustment. The joint drive motor fine-tunes the posture of the folding unit in real time to ensure that the wheels are always in contact with the ground and improves the stability of movement.

[0058] The obstacle-crossing mode is a dedicated application of the ground system, while the flight system remains locked. When the obstacle detection sensor detects an obstacle, the control unit triggers the obstacle-crossing procedure: the joint drive motor drives the landing gear linkage mechanism to retract and store energy, and the drive wheel motor briefly pauses; after energy storage is complete, the joint drive motor instantly releases power, and the landing gear linkage mechanism quickly extends, propelling the fuselage to jump 13 times, with the jump height precisely matched to the landing gear linkage mechanism's travel and motor power. After landing, the linkage mechanism quickly adjusts its attitude, the drive wheel motor restarts, and ground movement resumes.

[0059] The three modes can be seamlessly switched through the control device, and the two power systems can be started and stopped on demand and adapted to different attitudes. This not only ensures the efficiency of operation in various scenarios, but also ensures operational safety through precise coordination, fully reflecting the design logic of "air-ground integration".

[0060] The flight operation process of this embodiment is as follows: Taking "field reconnaissance mission" as an example, the complete workflow is as follows: (1) Task preparation phase Equipment deployment: Place the equipment on a level landing point and check the connection status of each module; Parameter settings: Input mission parameters via ground control terminal, including: reconnaissance area coordinates (latitude and longitude range), flight altitude, cruise speed, ground maneuver path, and operation dwell time; (2) Takeoff and cruise phase Vertical takeoff: The ground control terminal sends a "takeoff" command, the equipment enters the vertical takeoff and landing sub-mode, the left and right rotors output full power, and after vertically ascending to the preset height, it hovers and calibrates its attitude. Level flight transition: After hovering and stabilizing, the system automatically switches to the level flight cruise sub-mode. The rotor deflects forward through the propeller drive device, the fuselage tilts forward, and the fixed wing 2 engages in lift, completing the transition from vertical takeoff to level flight. Aerial reconnaissance: Fly to the first reconnaissance point, switch the system to hovering operation sub-mode, hover at an altitude of 50m, activate the visual camera to take high-definition pictures, and the sensors collect environmental data (such as temperature, humidity, gas concentration). The data is transmitted back to the ground terminal in real time. After hovering for 30 seconds, continue to the next reconnaissance point.

[0061] (3) Ground Mobility and Precision Operation Phase Landing Switching: After completing aerial reconnaissance, the equipment flies to a height of 5m above the ground operation area and hovers. It then switches to vertical landing mode, slowly descends to the ground, and the dual-wheel landing gear provides cushioning and begins to work. Finally, it switches to ground maneuvering mode. Ground transfer: According to the preset path, the equipment moves laterally to the target detection point at a speed of 1m / s. During the journey, it autonomously avoids ground obstacles (such as rocks and potholes) through lidar and buffers ground bumps through spring shock absorbers.

[0062] (4) Mission Closure and Return Phase Operation completed: After all reconnaissance points and ground detection tasks are completed, the equipment automatically summarizes the data and uploads it to the ground terminal, awaiting return instructions; Ground maneuver to the take-off and landing point: After receiving the "return" command, the equipment returns to the initial take-off and landing point along the preset ground path, with the moving speed increasing to 1.2m / s, and then stands still upon arrival; In-flight return (optional): If the ground path is blocked, the system will automatically switch to flight mode, take off vertically, and return to the take-off and landing point at a speed of 80km / h. Shutdown and Storage: After returning to the take-off and landing point, the equipment descends vertically, the dual rotors stop working, the dual-wheel landing gear remains extended, the robot moves to the preset position, the system shuts down unnecessary modules, and enters standby mode.

[0063] Specific examples have been used to illustrate the principles and implementation methods of this invention. The above description is only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A land-and-air flying robot, characterized in that, The system includes a fuselage, fixed wings, rotor assembly, folding device, locomotion device, and control device. The fixed wings and control device are fixedly connected to the fuselage. The rotor assembly and folding device are movably connected to the fuselage. The locomotion device is movably connected to the folding device. The rotor assembly, folding device, and locomotion device are all connected to the control device. The control device can adjust the fuselage's attitude via the rotor assembly and switch the fuselage between vertical and horizontal attitudes. The rotor assembly provides a forward-directing pull on the fuselage. The folding device is located at the tail end of the fuselage. When the nose of the fuselage is facing upwards, the locomotion device propels the fuselage. When the flying robot is moving, the control device controls the folding device to be in an unfolded state. When the flying robot is flying horizontally, the control device controls the folding device to be in a folded state. When the folding device is in the unfolded state, the distance between the walking device and the tail end of the fuselage is greater than the distance between the walking device and the tail end of the fuselage when the folding device is in the folded state.

2. The land-air flying robot according to claim 1, characterized in that, It also includes an attitude detection device. The walking device includes walking wheels and walking drive devices, each consisting of two wheels and one-to-one correspondences. The attitude detection device is communicatively connected to the control device and is used to detect the attitude of the fuselage. Each of the walking drive devices is connected to the control device, and the control device can control the rotation speed of the two walking wheels through the two walking drive devices respectively, so that the machine body can move in a dynamic balance.

3. The land-air flying robot according to claim 2, characterized in that, The folding device includes two folding units, each folding unit including a driven leg, a connecting leg, an active leg, and a joint drive device. The first end of each driven leg is movably connected to the fuselage, and the second end of each driven leg is movably connected to the first end of the corresponding connecting leg. The second ends of the two connecting legs are respectively connected to the two walking wheels. The first end of each active leg is rotatably connected to the corresponding joint drive device about an extension axis. Each extension axis is parallel to the width direction of the fuselage. The second end of each active leg is movably connected to the first end of the corresponding connecting leg. Each joint drive device is connected to the control device. Each joint drive device can drive the corresponding active leg to rotate about the corresponding extension axis, thereby causing the corresponding walking wheel to move towards or away from the fuselage.

4. The land-air flying robot according to claim 3, characterized in that, It also includes multiple elastic components, with at least one elastic component disposed between the active leg and the connecting leg of each folding unit; when each joint drive device drives the corresponding active leg to rotate around the corresponding extension axis and moves the corresponding walking wheel toward the fuselage, the corresponding active leg and the corresponding connecting leg can compress the corresponding elastic component and store energy in the corresponding elastic component; when each elastic component releases energy, it enables the flying robot to perform a jumping action.

5. The land-air flying robot according to claim 1, characterized in that, The rotor device includes at least two rotor assemblies, each rotor assembly including a propeller, a support rod, and a blade drive device. The first end of each support rod is fixedly connected to the fuselage, and each support rod extends along the length direction of the fuselage. Each propeller is rotatably connected to the second end of the corresponding support rod about a tilt axis, the tilt axis being parallel to the width direction of the fuselage. Each blade drive device is connected to the control device, and each blade drive device is connected to the corresponding propeller and can drive the corresponding propeller to rotate about the corresponding tilt axis.

6. The land-air flying robot according to claim 2, characterized in that, It also includes a barometer, and the attitude detection device includes a gyroscope and an accelerometer; the gyroscope, the accelerometer, and the barometer are all connected to the fuselage and are all communicatively connected to the control device. The gyroscope is used to obtain the attitude angle of the fuselage, the accelerometer is used to obtain the acceleration of the fuselage, and the barometer is used to obtain the height of the fuselage.

7. A control method for a land-air flying robot according to any one of claims 1 to 6, characterized in that, Includes the following steps: The control method for controlling the flying robot to walk on the ground includes: making the front end of the fuselage face upward, controlling the folding device to be in an unfolded state through the control device, making the walking device contact the ground, and driving the flying robot to walk on the ground through the walking device; The control method for controlling the flying robot to take off vertically includes: positioning the flying robot in a vertical attitude, providing an upward thrust to the fuselage through the rotor device, so that the flying robot can take off vertically and fly vertically upward. The control method for controlling the flying robot to fly horizontally includes: when the flying robot flies to a set altitude, the control device adjusts the attitude of the flying robot through the rotor device and transitions the flying robot from a vertical attitude to a horizontal attitude; the rotor device provides forward thrust to the fuselage to keep the flying robot flying horizontally; and the control device controls the folding device to be in a folded state. The control method for controlling the flying robot to make a vertical landing includes: the control device adjusting the attitude of the flying robot through the rotor device and transitioning the flying robot from a horizontal attitude to a vertical attitude, providing an upward pull to the fuselage through the rotor device, and causing the flying robot to fall vertically to the ground.

8. The control method according to claim 7, characterized in that, When the flying robot takes off vertically, the control device controls each of the folding devices to be in the unfolded state, or the control device controls each of the folding devices to perform a folding action and put the corresponding folding device in a fully folded state or a partially folded state. If the flying robot enters a level flight state and each of the folding devices is in the unfolded state or the partially folded state, then the control device controls each of the folding devices to perform a folding action and puts the corresponding folding device in a fully folded state. When the flying robot makes a vertical landing, the control device controls each of the folding devices to perform an unfolding action and puts the corresponding folding device in a fully unfolded state or a partially folded state. When the flying robot is walking on the ground, the control device controls each of the folding devices to be in a fully unfolded state or a partially folded state.

9. The control method according to claim 8, characterized in that, It also includes an attitude detection device. The walking device includes walking wheels and walking drive devices, each consisting of two wheels and one-to-one correspondences. The attitude detection device is communicatively connected to the control device and is used to detect the attitude of the fuselage. Each of the walking drive devices is connected to the control device. The control device can control the rotational speed of the two walking wheels through the two walking drive devices and enable the machine body to move in a dynamic and balanced manner. The folding device includes two folding units. Each folding unit includes a driven leg, a connecting leg, an active leg, and a joint drive device. The first end of each driven leg is movably connected to the machine body, and the second end of each driven leg is movably connected to the first end of the corresponding connecting leg. The second ends of the two connecting legs are respectively connected to the two walking wheels. The first end of each active leg is rotatably connected to the corresponding joint drive device about an extension axis. Each extension axis is parallel to the width direction of the machine body. The second end of each active leg is movably connected to the first end of the corresponding connecting leg. Each joint drive device is connected to the control device. Each joint drive device can drive the corresponding active leg to rotate about the corresponding extension axis, thereby causing the corresponding walking wheel to move towards or away from the machine body. The method by which the control device controls the unfolding of the folding device includes: the control device drives the two active legs to rotate around the corresponding extension axis through the two joint drive devices, and causes the end of each active leg away from the body to rotate in a direction away from the head end of the body, so as to unfold the folding device; The method by which the control device controls the folding device to fold includes: the control device drives the two active legs to rotate around the corresponding extension axis through the two joint drive devices, and rotates the end of each active leg away from the body towards the head end of the body, so as to fold the folding device.

10. The control method according to claim 9, characterized in that, It also includes multiple elastic components, and at least one elastic component is provided between the active leg and the connecting leg of each folding unit; when each joint driving device drives the corresponding active leg to rotate around the corresponding extension axis and moves the corresponding walking wheel toward the body, the corresponding active leg and the corresponding connecting leg can compress the corresponding elastic component and store energy in the corresponding elastic component; When each of the elastic components releases energy, it enables the flying robot to perform a jumping action; The control method for controlling the vertical takeoff of the flying robot further includes: before activating the rotor device, driving the corresponding active leg to rotate around the corresponding extension axis and fold the corresponding folding unit through each joint drive device, so that the corresponding elastic component stores energy; causing each elastic component to release energy instantaneously after storing energy, so that the flying robot performs a jumping action; after the flying robot jumps upward, activating the rotor device and providing upward thrust to the flying robot to achieve vertical takeoff of the flying robot; The control method for the flying robot to walk on the ground further includes: when there is an obstacle in front of the flying robot, causing the flying robot to perform the jumping action to jump over the obstacle.

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