Multi-rotor wheel-leg type multifunctional air robot and sports programming method thereof

Abstract

The invention discloses a multi-rotator leg-wheeled multifunctional aerial robot and a motion planning method thereof. The robot comprises rotators A, B, C and D, rotator driving motors A, B, C and D, wall-climbing thighs A and B, wall-climbing legs A and B, hip joint driving motors A and B, knee joint driving motors A and B, a robot main body, a wall-surface running wheels A and B, a ground supporting rod, rotating supporting rods and a rigidity-strengthened ring. The motion planning process comprises the motion planning of the robot in flight state, the motion planning of the robot undergoing a change from the flight state to a wall climbing state, the motion planning of the robot in a wall climbing state, the motion planning of the robot crossing an obstacle during wall climbing, and the motion planning of the robot undergoing a change from the wall climbing state to the flight state. The robot realizes the fusion of a rotator type aircraft and a leg-wheeled movement mechanism, is simple in mechanical structure and easy to realize, and has the advantages of high stability, small volume, strong adaptability to wall surfaces, large obstacle crossing capacity, wide application range and the like.

Description

A multi-rotor leg-wheeled multifunctional aerial robot and its motion planning method technical field The invention relates to an aerial robot, in particular to a multi-rotor leg-wheeled multifunctional aerial robot, belonging to the mechanical field. Background technique At present, many application fields require the aircraft to be able to fly at low altitude and low speed, perform low-altitude operations, and have good maneuverability and concealment. Therefore, there has been an aircraft system based on a single-rotor helicopter. This kind of single-rotor aircraft can realize low-altitude and low-speed flight, and can also complete certain low-altitude operations. However, due to the use of one rotor, the size of the rotor is generally relatively large, and it is more dangerous when working, and the control mechanism for the angle of attack of the single-rotor wing surface is complicated. , and it is a single point of failure, so the fault tolerance is poor. The mult...

AI Technical Summary

Problems solved by technology

In the field of research on aerial robots based on aircraft platforms, aerial robots are mostly limited to a single task, which limits their scope of application

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