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。


    Access

    Download


    Export, share and cite



    Title :

    Single-duct land-air cross-domain robot and control method thereof


    Additional title:

    单涵道陆空跨域机器人及其控制方法


    Contributors:
    LIU LIANG (author) / LYU QIONGYING (author) / XUE SHAN (author)

    Publication date :

    2020-05-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B64C AEROPLANES , Flugzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



    Land all-terrain duct cross-domain robot and cross-domain method thereof

    LIU GUOSONG / LI MINGDA / WANG YI et al. | European Patent Office | 2020

    Free access

    Single-duct unmanned detection flying robot

    LIU JIA / LYU XUFENG / GUO CE et al. | European Patent Office | 2022

    Free access

    Air-ground cross-domain robot

    LUO KAI / LI GUOXI / ZHANG MENG et al. | European Patent Office | 2023

    Free access

    Wheel-leg type land-air amphibious robot with single driving joint and control method thereof

    XU HONGYU / ZHENG XIANGMING | European Patent Office | 2024

    Free access

    Annular multi-duct water-air amphibious cross-domain unmanned aerial vehicle

    ZHANG YAO / LI LONGLONG | European Patent Office | 2022

    Free access