Air-ground conversion robot

Abstract

The utility model provides an air-ground conversion robot. Relates to the technical field of robots. The air-ground conversion robot comprises a body; the multiple land-air conversion structures are arranged on the periphery of the body at intervals in the circumferential direction of the body, each land-air conversion structure comprises a flight assembly and a crawling assembly fixedly connected with the flight assembly, and the flight assembly has an unfolding mode and a folding mode; each crawling assembly moves with the body movement room through one connecting piece, so that the crawling assembly is driven to move to a non-crawling state or a crawling state, and the flying assembly is driven to move to a flying state or a non-flying state; the flight assembly is in a flight state, and the flight assembly is in an unfolding mode; the flight assembly is in a non-flight state, and the flight assembly is in a folding mode.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a land-to-air conversion robot. Background Art

[0002] At present, when crops are densely planted, the branches and leaves of crops are lush during the bud stage. Conventional drone monitoring can only monitor the canopy part and cannot effectively observe the lower part of the plant. In addition, some diseases and insect pests begin to develop lesions from the bottom of the plant in the early stage of the outbreak, so it is particularly important to monitor the canopy and bottom of densely planted crops.

[0003] In the prior art, a dual-purpose robot for land and air is provided, which can monitor both the canopy and the lower part of the plant. However, the flying mechanism and the crawling mechanism are two separate structures, and the flying mechanism and the crawling mechanism need to be adjusted separately to achieve the land-air conversion.

[0004] Therefore, how to provide a land-to-air conversion robot that is convenient for land-to-air conversion becomes a problem that needs to be solved urgently. Utility Model Content

[0005] A technical problem to be solved by this application is: how to facilitate land-to-air conversion.

[0006] In order to solve the above technical problems, the present application provides a land-to-air conversion robot, including:

[0007] A main body; a plurality of land-to-air conversion structures, wherein the plurality of land-to-air conversion structures are arranged at intervals along the circumference of the main body on the outer periphery of the main body, each of the land-to-air conversion structures comprises a flying component and a crawling component fixedly connected to the flying component, and the flying component has an unfolding mode and a folding mode; a plurality of connecting members, wherein each of the crawling components moves between the main body and the crawling component through one of the connecting members to drive the crawling component to move to a non-crawling state or to a crawling state, and to drive the flying component to a flying state or to a non-flying state; when the flying component is in a flying state, the flying component is in an unfolding mode; when the flying component is in a non-flying state, the flying component is in a folding mode.

[0008] In some embodiments, the flight assembly includes a retractable rotor and a rotor retracting and extending mechanism, and the retractable rotor is movably connected to the rotor retracting and extending mechanism to move to an expanded mode or a folded mode.

[0009] In some embodiments, the retractable rotor includes at least two sub-rotors, and both of the sub-rotors are rotatably connected to the rotor retractable and deployable mechanism;

[0010] When the flight assembly is in a flight state, the two sub-rotors are respectively located on both sides of the rotor retracting and extending mechanism; when the flight assembly is in a non-flying state, the two sub-rotors rotate to one side of the rotor retracting and extending mechanism.

[0011] In some embodiments, the flight assembly further includes a rotor motor, and the rotor motor is electrically connected to the rotor retracting and extending mechanism to drive the rotor retracting and extending mechanism to rotate, thereby driving the retractable rotor to rotate.

[0012] In some embodiments, the crawling assembly includes: a mechanical foot, which is foot-shaped, has a first end close to the body and a second end away from the body, the area of ​​the first end of the mechanical foot is larger than the area of ​​the second end of the mechanical foot, the first end of the mechanical foot is connected to the connecting member, the second end of the mechanical foot is a free end, and the second end of the mechanical foot is a spherical or arc-shaped structure.

[0013] In some embodiments, the main body includes: a first connecting plate, the first connecting plate is extended in the horizontal direction, the first connecting plate is a square structure with protruding four corners and the midpoint of the long side, and each protruding position of the first connecting plate is connected to the crawling assembly through the connecting piece.

[0014] In some embodiments, the connecting member includes: a first joint servo, which is rotatably connected to the first connecting plate; a connecting arm, whose first end is rotatably connected to the side of the first joint servo perpendicular to the extension direction of the first connecting plate; a second joint servo, which is rotatably connected to the second end of the connecting arm, and the second joint servo is also connected to the mechanical foot.

[0015] In some embodiments, the connecting arm is a V-shaped structure.

[0016] In some embodiments, it further includes: a detection component, the detection component includes a first detection member and a second detection member, the first detection member is arranged on the main body, and the second detection member is arranged on the second end of the mechanical foot.

[0017] In some embodiments, the first detection component is a spectral camera and / or a thermal imager; the second detection component is a probe, and the probe is retractably connected to the second end of the mechanical foot to be used for extending into the soil for detection.

[0018] Through the above technical scheme, the present application provides a land-to-air conversion robot, including a body, a plurality of land-to-air conversion structures and a plurality of connecting members, the body is provided with a plurality of land-to-air rotation structures at intervals along the circumferential direction, each land-to-air conversion structure is movably connected to the body through a connecting member, each land-to-air conversion structure includes a flying component and a crawling component, the flying component is connected to the crawling component, so that the crawling component and the flying component are an integral structure, the crawling component is movably connected to the body through the connecting member, and the connecting member can drive the crawling component to move, so that the crawling component can move to a crawling state or to a non-crawling state, that is, the crawling component can switch between the crawling state and the non-crawling state, and can drive the flying component to switch between the flying state and the non-flying state. When the crawling component moves to the crawling state, the flying component connected to the crawling component moves to the non-flying state, at which time the flying component is in a folding mode, and the land-to-air conversion robot crawls through the crawling component; and when the crawling component moves to the non-crawling state, the flying component connected to the crawling component moves to the flying state, at which time the flying component is in an unfolding mode, and the land-to-air conversion robot flies through the flying component.

[0019] Therefore, the land-to-air conversion robot provided by the present application, through the setting of interconnected flying components and crawling components, can simultaneously drive the flying component and the crawling component to move only through the movement of the connecting parts. There is no need for the flying component and the crawling component to move separately as in the related art, which facilitates the land-to-air conversion, so that the land-to-air conversion robot can monitor the crown of the plant through the flying component, and can also monitor the bottom of the plant through the crawling component, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of a flying state of a land-to-air conversion robot disclosed in an embodiment of the present application;

[0022] Figure 2 It is a structural schematic diagram of a crawling state of a land-to-air conversion robot disclosed in an embodiment of the present application;

[0023] Figure 3 is a cross-sectional view of a land-to-air conversion robot in flight state disclosed in an embodiment of the present application;

[0024] Figure 4It is a top view of the flight state of a land-to-air conversion robot disclosed in an embodiment of the present application.

[0025] Description of reference numerals:

[0026] 1. Land-to-air conversion robot; 11. Main body; 111. First connecting plate; 112. Second connecting plate; 113. Upper cover plate; 114. Lower cover plate; 12. Land-to-air conversion structure; 121. Flight component; 1211. Retractable rotor; 1212. Rotor retracting and extending mechanism; 1213. Rotor motor; 122. Crawling component; 1221. Mechanical foot; 13. Connector; 131. First joint servo; 132. Connecting arm; 133. Second joint servo; 14. Detection component; 141. Spectral camera; 142. Probe. DETAILED DESCRIPTION

[0027] The following is a further detailed description of the implementation methods of the present application in conjunction with the accompanying drawings and examples. The detailed descriptions of the following examples and the accompanying drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application. The present application can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

[0028] The present application provides these embodiments to make the present application thorough and complete, and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.

[0029] It should be noted that, in the description of this application, unless otherwise specified, the meaning of "multiple" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0030] In addition, the words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0031] It should also be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0032] All terms used in this application have the same meaning as those understood by those of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0033] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0034] like Figures 1 to 4 As shown, the present application provides a land-to-air conversion robot 1, comprising:

[0035] Ontology 11;

[0036] A plurality of land-to-air conversion structures 12, wherein the plurality of land-to-air conversion structures 12 are arranged at intervals along the circumference of the body 11 on the outer periphery of the body 11, each of the land-to-air conversion structures 12 comprises a flying assembly 121 and a crawling assembly 122 fixedly connected to the flying assembly 121, and the flying assembly 121 has an unfolding mode and a folding mode;

[0037] A plurality of connecting members 13, each of the crawling components 122 moves between the main body 11 and the connecting member 13, so as to drive the crawling component 122 to move to a non-climbing state or to a crawling state, and to drive the flying component 121 to move to a flying state or to a non-flying state;

[0038] The flying assembly 121 is in a flying state, and the flying assembly 121 is in an unfolded mode; the flying assembly 121 is in a non-flying state, and the flying assembly 121 is in a folded mode.

[0039] A land-to-air conversion robot 1 provided in the present application includes a main body 11, multiple land-to-air conversion structures 12 and multiple connecting parts 13. The main body 11 is provided with multiple land-to-air rotating structures at intervals along the circumferential direction. Each land-to-air conversion structure 12 is movably connected to the main body 11 through a connecting part 13. Each land-to-air conversion structure 12 includes a flying component 121 and a crawling component 122. The flying component 121 is connected to the crawling component 122, so that the crawling component 122 and the flying component 121 are an integral structure. The crawling component 122 is movably connected to the main body 11 through the connecting part 13. The connecting part 13 can drive the crawling component to move, so that the crawling component 122 can move to a crawling state or a non-crawling state, that is, the crawling component 122 can switch between the crawling state and the non-crawling state, and can drive the flying component 121 to switch between the flying state and the non-flying state. When the crawling component 122 moves to the crawling state, the flying component 121 connected to the crawling component 122 moves to the non-flying state. At this time, the flying component 121 is in the folding mode, and the land-to-air conversion robot 1 crawls through the crawling component 122; and when the crawling component 122 moves to the non-crawling state, the flying component 121 connected to the crawling component 122 moves to the flying state. At this time, the flying component 121 is in the unfolding mode, and the land-to-air conversion robot 1 flies through the flying component 121.

[0040] Therefore, the land-to-air conversion robot 1 provided in the present application, through the setting of the flying component 121 and the crawling component 122 connected to each other, can simultaneously drive the flying component 121 and the crawling component 122 to move only through the movement of the connecting member 13, without the need for the flying component 121 and the crawling component 122 to move separately as in the related art, thereby facilitating the conversion between land and air, so that the land-to-air conversion robot 1 can monitor the crown of the plant through the flying component 121, and can also monitor the bottom of the plant through the crawling component 122, thereby improving the user experience.

[0041] like Figures 1 to 4 As shown, in the embodiment of the present application, the flight assembly 121 includes a retractable rotor 1211 and a rotor retracting and extending mechanism 1212, and the retractable rotor 1211 is movably connected to the rotor retracting and extending mechanism 1212 to move to an expanded mode or a folded mode.

[0042] In this embodiment, the flight assembly 121 includes a retractable rotor 1211 and a rotor retracting and extending mechanism 1212. The retractable rotor 1211 is connected to the rotor retracting and extending mechanism 1212, so that the rotor retracting and extending structure can drive the retractable rotor 1211 to rotate, thereby realizing the flight of the flight assembly 121. The retractable rotor 1211 is also movably connected to the rotor retracting and extending mechanism 1212, so that the retractable rotor 1211 can interact to an unfolded state or a folded state. When the flight assembly 121 is in a flying state, the retractable rotor 1211 moves to an unfolded state, and the rotor retracting and extending mechanism 1212 drives the retractable rotor 1211 to rotate, thereby realizing flight; when the flight assembly 121 is in a non-flying state, the retractable rotor 1211 moves to a folded state, and the rotor retracting and extending mechanism 1212 drives the retractable rotor 1211 to rotate, and the crawling assembly 122 is in a crawling state to crawl.

[0043] like Figures 1 to 4 As shown, in the embodiment of the present application, the retractable rotor 1211 includes at least two sub-rotors, and both of the two sub-rotors are rotatably connected to the rotor retractable and deployable mechanism 1212;

[0044] The flight assembly 121 is in a flight state, and the two sub-rotors are respectively located on both sides of the rotor retracting and extending mechanism 1212 ; the flight assembly 121 is in a non-flying state, and the two sub-rotors rotate to one side of the rotor retracting and extending mechanism 1212 .

[0045] In this embodiment, the retractable rotor 1211 includes at least two sub-rotors, which are fan-blade structures. After rotating, they can drive the land-to-air conversion robot 1 to fly. At least two sub-rotors are rotatably connected to the rotor retracting and extending mechanism 1212, so that they can change their positions with the rotor retracting and extending mechanism 1212. When the flight component 121 is in a flight state, at least two sub-rotors move to both sides of the rotor retracting and extending mechanism 1212 respectively, so that flight can be achieved when the rotor mechanism drives the two sub-rotors to rotate. When the flight component 121 moves to a non-flight state, at least two sub-rotors move to one side of the rotor retracting and extending mechanism 1212, so that the sub-rotors will not interfere with the crawling component 122, thereby ensuring the crawling of the crawling component 122.

[0046] like Figures 1 to 4 As shown, in the embodiment of the present application, the flight assembly 121 also includes a rotor motor 1213, and the rotor motor 1213 is electrically connected to the rotor retracting and extending mechanism 1212 to drive the rotor retracting and extending mechanism 1212 to rotate, thereby driving the retractable rotor 1211 to rotate.

[0047] In this embodiment, the main body 11 also includes a flight controller, which is electrically connected to the rotor motor 1213 and is used to control the start or shut down of the rotor motor 1213. When the flight component 121 is in a flight state, the flight controller controls the start of the rotor motor 1213. After the rotor motor 1213 is started, it can drive the rotor retractable mechanism 1212 connected to the rotor motor 1213 to rotate, thereby driving the retractable rotor 1211 to rotate, thereby achieving flight.

[0048] like Figures 1 to 4 As shown, in the embodiment of the present application, the crawling component 122 includes:

[0049] The mechanical foot 1221 is in the shape of a foot, and has a first end close to the body 11 and a second end away from the body 11, the area of ​​the first end of the mechanical foot 1221 is larger than the area of ​​the second end of the mechanical foot 1221, the first end of the mechanical foot 1221 is connected to the connecting member 13, the second end of the mechanical foot 1221 is a free end, and the second end of the mechanical foot 1221 is a spherical or arc-shaped structure.

[0050] In this embodiment, the crawling component 122 includes a mechanical foot 1221, which is connected to the body 11 through a connecting member 13, so that it can move under the drive of the connecting member 13. The mechanical foot 1221 is a foot-shaped structure, so that when the crawling component 122 is in a crawling state, it can better drive the entire land-to-air conversion robot 1 to crawl. The mechanical foot 1221 has a first end and a second end. The first end is movably connected to the connecting member 13, so that the mechanical foot 1221 is connected to the body 11 through the connecting member 13, and the mechanical foot 1221 can move under the drive of the connecting member 13, so that crawling can be achieved. The second end of the mechanical foot 1221 is a free end, that is, an end for contacting the ground, which is a spherical or arc-shaped structure to prevent the mechanical foot 1221 from hanging the ground film, branches, soil, etc. during the crawling process, causing damage or jamming of the mechanical structure, thereby ensuring normal crawling.

[0051] like Figures 1 to 4 As shown, in the embodiment of the present application, the body 11 includes:

[0052] The first connecting plate 111 is extended in the horizontal direction. The first connecting plate 111 is a square structure with protruding four corners and the midpoint of the long side. Each protruding position of the first connecting plate 111 is connected to the crawling component 122 through the connecting piece 13.

[0053] In this embodiment, the main body 11 is provided with an upper cover plate 113, a lower cover plate 114, a first connecting plate 111 and a second connecting plate 112 in sequence along the vertical direction. The upper cover plate 113 is a bending plate that is approximately rhombus-shaped. The top of one end of the upper cover plate 113 is rotatably connected to a spectral camera 141 and / or a thermal imager, so that imaging information and / or thermal imaging information can be received to sense the crown of the plant. A signal receiver is provided at the other end of the upper cover plate 113 for receiving cloud data and performing path planning for the target cotton area according to the cloud data. There is an accommodating space between the upper cover 113 and the lower cover 114, and a built-in electronic speed regulator and a motor driver are arranged in the accommodating space. The electronic speed regulator is connected to the rotor motor 1213 to control the rotation speed of the rotor motor 1213, and then control the rotation speed of the retractable rotor 1211, that is, control the flight situation, and the motor driver is connected to the retractable rotor 1211 to control the retractable rotor 1211 to rotate on the rotor retracting and extending mechanism 1212, so that the retractable rotor 1211 is in an expanded state or a folded state. The first connecting plate 111 is provided with hardware circuits such as a probe 142 extension and retraction controller, a flight controller and a crawling controller on one side of the lower cover 114. The probe 142 extension and retraction controller is connected to the probe 142 to control the extension and retraction of the probe 142. When detection by the probe 142 is required, the probe 142 is controlled to extend, and when detection by the probe 142 is not required, the probe 142 is controlled to retract. The flight controller is connected to the rotor motor 1213 to control the opening or closing of the rotor motor 1213. The crawling controller is connected to multiple mechanical feet 1221 respectively to control the movement of the mechanical feet 1221 to achieve crawling. The lower cover plate 114 and the first connecting plate 111 are fixedly connected by multiple pillars.

[0054] In this embodiment, the first connecting plate 111 is a square structure with protruding four corners and the midpoint of the long side, and a hollow pattern is carved around the geometric center. The first connecting plate 111 has six protrusions, that is, six land-to-air conversion structures 12 are provided, each land-to-air conversion structure 12 is connected to a protrusion by screw rotation, and the six land-to-air conversion structures 12 are also located between the first connecting plate 111 and the second connecting plate 112, so that the second connecting plate 112 can support multiple land-to-air conversion structures 12.

[0055] like Figures 1 to 4 As shown, in the embodiment of the present application, the connecting member 13 includes:

[0056] A first joint steering gear 131, wherein the first joint steering gear 131 is rotatably connected to the first connecting plate 111;

[0057] A connecting arm 132, a first end of which is rotatably connected to a side surface of the first joint servo 131 perpendicular to an extending direction of the first connecting plate 111;

[0058] The second joint servo 133 is rotatably connected to the second end of the connecting arm 132 , and the second joint servo 133 is also connected to the mechanical foot 1221 .

[0059] In this embodiment, the connecting member 13 includes a first joint servo 131, a connecting arm 132 and a second shutdown servo. The upper surface of the first shutdown servo arranged in the horizontal direction is rotatably connected to the protruding part of the first connecting plate 111, and the rotation axis is perpendicular to the first connecting plate 111, so that the first joint servo 131 can drive the crawling assembly 122 to rotate left and right, and the first shutdown servo is located between the first connecting plate 111 and the second connecting plate 112, so that the second connecting plate 112 can receive the first joint servo 131, thereby playing a certain supporting role for the first shutdown servo. The mechanical foot 1221 is a plate-like structure, having a first surface and a second surface, the first surface and the second surface are arranged opposite to each other, the first surface is connected to the rotor motor 1213, the second surface is connected to the second joint steering gear 133, and the rotor motor 1213 and the second joint steering gear 133 are both connected to the first end of the mechanical foot 1221, and the second joint steering gear 133 is also rotatably connected to the first side surface of the first joint steering gear 131 through the connecting arm 132, and the second surface of the mechanical foot 1221 is arranged in parallel with the first side surface of the first shutdown steering gear, so that the first end of the connecting arm 132 is parallel to the second end The first end of the connecting arm 132 is rotationally connected to the first joint servo 131, and the second end of the connecting arm 132 is rotationally connected to the second shutdown servo, so that the mechanical foot 1221 can be lifted or lowered, thereby completing the leg extension movement, and when the second end of the connecting arm 132 connected to the second joint servo 133 no longer rotates, this is the landing point of the mechanical foot 1221 in this step, thereby realizing crawling, so that under the action of the first joint servo 131, the second joint servo 133 and the connecting arm 132, the robot can move in any direction.

[0060] In this embodiment, when the mechanical foot 1221 rotates to meet the vertical condition with the first connecting plate 111, both ends of the connecting arm 132 can no longer rotate, and the first joint servo 131 and the second joint servo 133 are in a self-locking state. When the mechanical foot 1221 rotates and no longer meets the vertical condition with the first connecting plate 111, the connecting arm 132 can rotate, and the first joint servo 131 and the second joint servo 133 release the self-locking state, thereby changing from the flying state to the crawling state.

[0061] like Figures 1 to 4 As shown, in the embodiment of the present application, the connecting arm 132 is a V-shaped structure.

[0062] In this embodiment, it is possible to better connect with the first joint servo 131 and the second joint servo 133, so that when the first joint servo 131 rotates relative to the main body 11 and the first end and the second end of the connecting arm 132 rotate relative to the first joint servo 131 and the second joint servo 133, the mechanical foot 1221 is driven to move to achieve crawling.

[0063] like Figures 1 to 4 As shown, in the embodiment of the present application, it also includes:

[0064] The detection component 14 includes a first detection member and a second detection member, wherein the first detection member is disposed on the body 11 , and the second detection member is disposed on the second end of the mechanical foot 1221 .

[0065] In this embodiment, the land-to-air conversion robot 1 also includes a detection component 14, which includes a first detection component and a second detection component. The first detection component is arranged on the main body 11, and is used to receive cloud data in the flight state, and plan the path for the target cotton area according to the cloud data. Thereafter, the flight altitude is determined according to the data detected by the first detection component, and the cotton canopy pests and diseases are identified and monitored during the flight. When it is necessary to effectively observe the lower part of the plant, the flight state is changed to the crawling state. At this time, the land-to-air conversion robot 1 slowly lands in the field, and the mechanical foot 1221 is rotated to a suitable position through the connecting member 13, and the rotor motor 1213 is controlled to change the retractable rotor 1211 from the unfolded mode to the folded mode, and the retractable rotor 1211 is retracted. The rotors 1211 are folded inward to prevent interference. After the multiple mechanical feet 1221 support and stabilize the entire device, the multiple mechanical feet 1221 are controlled separately by multiple connecting parts 13, so that the multiple mechanical feet 1221 can cooperate with each other to achieve crawling, so that the land-to-air conversion robot 1 crawls from between ridges to the field for inspection; during the crawling process, the second detection component detects the soil characteristics, and after the detection, the signal is received and judged by the first detection component to find an open position, and then the crawling state is switched to the flight state, and the retractable rotor 1211 is converted from the folding mode to the unfolding mode, so that it can fly out of the farmland through the flying component 121, thereby completing the monitoring of the crown and bottom of the plant, so that when a lesion occurs at the bottom of the plant, it can be detected immediately and dealt with in time.

[0066] like Figures 1 to 4 As shown, in the embodiment of the present application, the first detection component is a spectral camera 141 and / or a thermal imager.

[0067] The second detection member is a probe 142 , and the probe 142 is retractably connected to the second end of the mechanical foot 1221 so as to be inserted into the soil for detection.

[0068] In this embodiment, the first detection component is a spectral camera 141, which can take pictures of the crown of the plant to confirm the growth environment of the plant and the pest situation of the crown based on the photographed information. The first detection component can also be a thermal imager, which is used to confirm the pest situation based on the thermal imaging situation. The probe 142 is used to extend into the soil to detect the bottom of the plant, so that crop diseases can be discovered in the early stages of occurrence, so that the pests can be dealt with in time.

[0069] In this embodiment, in order to facilitate crawling between ridges and reduce obstacles, the size of the robot should not be too large, and the volume should be within 20cm 3 about.

[0070] So far, various embodiments of the present application have been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed herein.

[0071] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict.

Claims

1. A land-to-air conversion robot, characterized in that: include: ontology; A plurality of land-to-air conversion structures, wherein the plurality of land-to-air conversion structures are arranged at intervals along the circumference of the body on the outer periphery of the body, each of the land-to-air conversion structures comprises a flying assembly and a crawling assembly fixedly connected to the flying assembly, and the flying assembly has an unfolding mode and a folding mode; A plurality of connecting members, each of the crawling components moves between the main body and the crawling component through one of the connecting members, so as to drive the crawling component to move to a non-climbing state or to a crawling state, and to drive the flying component to move to a flying state or to a non-flying state; The flight assembly is in a flying state, and the flight assembly is in an unfolded mode; the flight assembly is in a non-flying state, and the flight assembly is in a folded mode; The body comprises: A first connecting plate, the first connecting plate is extended in the horizontal direction, the first connecting plate is a square structure with protruding four corners and the midpoint of the long side, and each protruding position of the first connecting plate is connected to the crawling assembly through the connecting piece; The crawling component includes: A mechanical foot, wherein the mechanical foot is foot-shaped, has a first end close to the body and a second end away from the body, the area of ​​the first end of the mechanical foot is larger than the area of ​​the second end of the mechanical foot, the first end of the mechanical foot is connected to the connecting member, the second end of the mechanical foot is a free end, and the second end of the mechanical foot is a spherical or arc-shaped structure; The connecting piece comprises: a first joint steering gear, the first joint steering gear being rotatably connected to the first connecting plate; A connecting arm, a first end of which is rotatably connected to a side surface of the first joint steering gear perpendicular to an extending direction of the first connecting plate; A second joint servo, wherein the second joint servo is rotatably connected to the second end of the connecting arm, and the second joint servo is also connected to the mechanical foot.

2. The land-to-air conversion robot according to claim 1, characterized in that: The flight assembly includes a retractable rotor and a rotor retracting and extending mechanism. The retractable rotor is movably connected to the rotor retracting and extending mechanism to move to an expanded mode or a folded mode.

3. The land-to-air conversion robot according to claim 2, characterized in that: The retractable rotor comprises at least two sub-rotors, and both of the two sub-rotors are rotatably connected to the rotor retractable and deployable mechanism; When the flight assembly is in a flight state, the two sub-rotors are respectively located on both sides of the rotor retracting and extending mechanism; when the flight assembly is in a non-flying state, the two sub-rotors rotate to one side of the rotor retracting and extending mechanism.

4. The land-to-air conversion robot according to claim 2, characterized in that: The flight assembly also includes a rotor motor, which is electrically connected to the rotor retracting and extending mechanism to drive the rotor retracting and extending mechanism to rotate, thereby driving the retractable rotor to rotate.

5. The land-to-air conversion robot according to claim 1, characterized in that: The connecting arm is a V-shaped structure.

6. The land-to-air conversion robot according to claim 1, characterized in that: Also includes: The detection component includes a first detection member and a second detection member, wherein the first detection member is arranged on the body, and the second detection member is arranged on the second end of the mechanical foot.

7. The land-to-air conversion robot according to claim 6, characterized in that: The first detection component is a spectral camera and / or a thermal imager; The second detection member is a probe, and the probe is retractably connected to the second end of the mechanical foot so as to be inserted into the soil for detection.

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