The invention, which belongs to the technical field of amphibious robots, relates to a single-duct air-ground cross-domain robot and a control method thereof. According to the single-duct air-ground cross-domain robot,torque control quantities of an X axis, a Y axis and a Z axis are obtained by arranging a control moment gyro group of an attitude balance system, and then the attitude of a robot body is adjusted according to the torque control quantities. Leg connecting rods and upper leg joints of wheel foot devices are controlled through two wheel foot steering engines, so that the flexibility and stability of a wheel foot system are improved; and the wheel foot system, a ducted fan system and a flight control system are correspondingly adjusted according to the judgment of an environmentrecognition system on the advancing environment, so that the robot enters different advancing modes, and thus the technical effect of rapid air-ground cross-domain switching is achieved.
本发明一种单涵道陆空跨域机器人及其控制方法,属于两栖机器人技术领域,本发明提供的单涵道陆空跨域机器人通过设置姿态平衡系统的控制力矩陀螺群获得X轴、Y轴和Z轴的扭矩控制量,进而通过扭矩控制量对机身进行姿态调整;通过两个轮足舵机控制轮足装置的腿部连杆和上腿关节,提升了轮足系统的灵活性和稳定性;根据环境识别系统对行进环境的判断,对轮足系统、涵道风扇系统以及飞行控制系统进行相应调整,使得机器人进入不同的行进模式,从而实现陆空跨域的快速切换的技术效果。
Single-duct land-air cross-domain robot and control method thereof
单涵道陆空跨域机器人及其控制方法
2020-05-12
Patent
Electronic Resource
Chinese
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