The invention provides a wheel-leg-type land-air amphibious robot with single driving joints and a control method of the wheel-leg-type land-air amphibious robot. The robot comprises a main machine body module, a left tilting rotor power module, a right tilting rotor power module, a left telescopic wheel-leg joint power module, a right telescopic wheel-leg joint power module and electronic equipment. The control method comprises a flight mode, a ground mode and a transition mode. The flight mode comprises forward and backward movement control, lifting movement control, rolling movement control and yawing movement control; the front-back movement control, the steering movement control, the lifting movement control and the rolling movement control are performed; the transition mode comprises conversion from a ground motion mode to an air flight mode and conversion from the air flight mode to the ground motion mode. According to the method, the endurance time is prolonged, and the method can be applied to task scenes such as road traffic supervision, search and rescue in damaged houses after disasters, exploration of unknown mine holes and geology in the field, hidden reconnaissance and the like, and has important significance and value in the future.
本发明提供了一种单驱动关节的轮腿式陆空两栖机器人及其控制方法,机器人包括主机身模组、左倾转旋翼动力模组、右倾转旋翼动力模组、左伸缩轮腿关节动力模组、右伸缩轮腿关节动力模组和电子设备。控制方法包括飞行模式、地面模式和过渡模式;所述飞行模式包括前后移动控制、升降运动控制滚转运动控制和偏航运动控制;所述前后移动控制、转向运动控制、升降运动控制和滚转运动控制;所述过渡模式包括从地面运动模式转变为空中飞行模式以及从空中飞行模式转变为地面运动模式。本发明延长了续航时间,可应用于道路交通监管、灾后受损房屋内的搜救、野外未知矿洞、地质的探索、隐蔽侦察等任务场景中,在未来具有重要的意义和价值。
Wheel-leg type land-air amphibious robot with single driving joint and control method thereof
单驱动关节的轮腿式陆空两栖机器人及其控制方法
09.02.2024
Patent
Elektronische Ressource
Chinesisch
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