CN111216498B - Deformation multi-purpose robot and control method - Google Patents
Deformation multi-purpose robot and control method Download PDFInfo
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- CN111216498B CN111216498B CN202010180964.4A CN202010180964A CN111216498B CN 111216498 B CN111216498 B CN 111216498B CN 202010180964 A CN202010180964 A CN 202010180964A CN 111216498 B CN111216498 B CN 111216498B
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/75—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using propulsion power supplied by both fuel cells and batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0033—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being tiltable relative to the fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64C35/00—Flying-boats; Seaplanes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
A deformation multi-purpose robot and control method, the robot includes fuselage, wing, multi-functional wheel and wheel posture adjustment assembly, two wings are symmetrically mounted on the left and right sides of the top of fuselage; four multi-function vehicle wheels are evenly distributed around the machine body, and the machine body is connected with each multi-function vehicle wheel through a vehicle wheel posture adjusting component. The control method comprises the following steps: setting a working mode of the deformation multi-purpose robot; setting a blade rotation angle; setting wheel postures which are respectively a ground driving posture, an air vertical flying posture, an air horizontal flying posture, a water surface sliding posture, an underwater horizontal navigation posture, an underwater submerging posture and an underwater floating posture; and executing a ground working mode, an air working mode, a water surface working mode or an underwater working mode, and converting between different working modes. The invention can realize the amphibious operation, can realize the conversion under different working modes without clearance in a complex working environment, and provides a feasible scheme for completing a task target under special conditions.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a deformation multi-purpose robot and a control method.
Background
According to different working environments, robots can be classified into air flight type robots, land navigation type robots, and underwater navigation type robots. In the air, the most representative is the unmanned aerial vehicle, and the unmanned aerial vehicle is widely applied to various fields and industries at present. On the land, wheeled, crawler-type, limb joint formula robot all is developing fast, and the technique is also more mature, has also widely applied in many fields and trade equally. In the aspect of water, whether an underwater vehicle or a submersible vehicle is used, the position of the underwater vehicle in the fields of hydrological scientific research, resource exploration and the like is more and more important.
At present, a great variety of robots mainly use a single-dwelling robot as a main robot, but in the face of a complex working environment, the single-dwelling robot is more and more difficult to complete tasks, and therefore more and more amphibious robots are gradually developed and manufactured.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a deformation multi-purpose robot and a control method thereof, which can realize water, land and air triphibian operation, can perform conversion under different working modes without clearance in a complex working environment, and provide a feasible scheme for completing a task target under special conditions.
In order to achieve the purpose, the invention adopts the following technical scheme: a deformation multi-purpose robot comprises a body, two wings, multifunctional wheels and wheel posture adjusting components, wherein the two wings are symmetrically arranged on the left side and the right side of the top of the body; the multifunctional wheel quantity is four, and four multifunctional wheel all distribute the setting around the fuselage, all link to each other through wheel gesture adjustment subassembly between fuselage and every multifunctional wheel.
The inside of the machine body is respectively provided with a front warehouse, a middle warehouse, a rear warehouse, a left warehouse and a right warehouse; the middle cargo cabin is divided into an upper layer and a lower layer, the two layers are separated by a sealing partition plate, the upper layer space is used for storing articles, and the lower layer space is respectively provided with a main controller, a gravity center regulator, a communicator, a pressure regulator, a power supply manager and a satellite navigator; an image recognition camera, a laser radar and an airspeed head are arranged at the front end of the machine body; the left cargo bin is divided into an upper layer and a lower layer, the two layers are separated by a sealing partition plate, the upper layer space is used for storing articles, the lower layer space comprises a first body gravity and mind adjusting chamber and a first water storage tank, a first body gravity and mind adjusting mechanism is installed in the first body gravity and mind adjusting chamber, and a water storage tank pressure regulating assembly is arranged on the first body gravity and mind adjusting mechanism; the right cargo cabin is divided into an upper layer and a lower layer, the two layers are separated by a sealing partition plate, the upper layer space is used for storing articles, the lower layer space comprises a second machine body gravity center adjusting chamber and a second water storage cabin, a second machine body gravity center adjusting mechanism is installed in the second machine body gravity center adjusting chamber, and a central energy supply assembly is arranged on the second machine body gravity center adjusting mechanism; water pressure sensors are arranged in the first water storage cabin and the second water storage cabin; the first fuselage center of gravity regulating chamber and the second fuselage center of gravity regulating chamber are distributed in a bilateral symmetry mode, and the first water storage cabin and the second water storage cabin are distributed in a bilateral symmetry mode.
The first machine body gravity center adjusting mechanism and the second machine body gravity center adjusting mechanism are identical in structure and respectively comprise a vector motor, a driving belt wheel, a driven belt wheel, a belt, a guide sliding rail, a sliding block and a sliding table plate; the guide sliding rails adopt a parallel double-rail structure, the belt is in transmission connection between the driving belt wheel and the driven belt wheel, the belt is positioned between the two guide sliding rails and is parallel to the guide sliding rails, and the driving belt wheel is fixedly arranged on a motor shaft of the vector motor; the sliding block is arranged on the guide sliding rail, the sliding table plate is horizontally and fixedly arranged on the sliding block, the sliding table plate can linearly move along the guide sliding rail through the sliding block, and the lower surface of the sliding table plate is fixedly connected with the belt; the water storage tank pressure regulating assembly is installed on a sliding table plate of the first machine body gravity center regulating mechanism, and the center energy supply assembly is installed on a sliding table plate of the second machine body gravity center regulating mechanism.
The first water storage cabin and the second water storage cabin are identical in structure and are divided into an upper layer and a lower layer, the two layers are separated by a water-proof film, the upper layer space serves as a gas cabin, the lower layer space serves as a water cabin, a cabin bottom plate of the water cabin is provided with a water through hole, the water cabin is communicated with the outside of the machine body through the water through hole, and an electric sealing cover is arranged at the water through hole; the pressure regulating assembly of the water storage cabin comprises an air compressor and a high-pressure gas cylinder, an air suction port of the air compressor is communicated with the gas cabin through a pipeline, an air exhaust port of the air compressor is communicated with an air inlet of the high-pressure gas cylinder, and an air outlet of the high-pressure gas cylinder is communicated with the gas cabin through a pipeline.
The central energy supply assembly comprises a fuel cell, a storage battery and a power converter, the fuel cell and the storage battery are connected with a power input port of the power converter through power lines, and a power output port of the power converter supplies power to all power utilization parts of the robot through the power lines.
The solar energy battery is arranged on the upper surface of the wing, a wing folding and unfolding driving motor is connected to the wing root of the wing, and the wing folding and unfolding driving motor is embedded in the fuselage.
The wheel posture adjusting assembly comprises a first posture adjusting motor, a first support arm, a second posture adjusting motor and a second support arm, the first posture adjusting motor is embedded in the machine body, one end of the first support arm is fixedly connected to a motor shaft of the first posture adjusting motor, the other end of the first support arm is hinged to one end of the second support arm, and the multifunctional wheel is connected to the other end of the second support arm; the second posture adjusting motor is arranged at the hinged position of the first support arm and the second support arm, the second posture adjusting motor is used for driving the second support arm to swing and rotate, and the first posture adjusting motor is used for driving the first support arm to rotate.
The multifunctional wheel comprises a rubber tire, an original magnet hub, an electromagnetic sleeve, a switching shaft and a duct power mechanism; the rubber tire is fixedly sleeved on an original magnet hub, the original magnet hub is sleeved on an electromagnetic sleeve, and the inner surface of the original magnet hub is in sliding contact fit with the outer surface of the electromagnetic sleeve; the duct power mechanism is located on the inner side of the electromagnetic sleeve, the switching shaft penetrates through a center hole of the original magnet hub, one end of the switching shaft is fixedly connected with the second support arm, and the duct power mechanism is connected to the other end of the switching shaft.
The ducted power mechanism comprises blades, an outer rotor motor and a fairing; the inner stator shaft of the outer rotor motor is fixedly connected with the adapter shaft, a plurality of blade mounting seats are uniformly distributed on the outer rotor sleeve of the outer rotor motor, the blade mounting seats are of straight rod-shaped structures, each blade mounting seat is fixedly provided with a blade, the root of each blade is fixedly connected onto the corresponding blade mounting seat, the center of the top of each blade is fixedly provided with a pin post, the inner surface of the electromagnetic sleeve is provided with a pin hole, the pin post is positioned in the pin hole, and the pin post can freely rotate in the pin hole; the surface of the rotor outer sleeve of the outer rotor motor is provided with a sliding groove, the blade mounting seat is connected in the sliding groove in a sliding way, the fairing is buckled at the top of the outer rotor motor, a blade rotation angle adjusting motor is arranged on the outer rotor motor in the fairing, a first winding wheel and a second winding wheel are fixedly connected in series on a motor shaft of the blade rotation angle adjusting motor, a first guider, a second guider, a first direction dividing column and a second direction dividing column are respectively arranged on the outer rotor motor, the first wire winding wheel is connected with one end of the cable in a winding way, the other end of the cable firstly passes through the first guider and then bypasses the first branch column, then the thread holes are sequentially and fixedly penetrated through the end parts of all the blade mounting seats, then the thread holes are wound around the second branch column, finally the thread holes are penetrated through the second guider and then are wound and connected on the second winding wheel, and the winding directions of the threads on the first winding wheel and the second winding wheel are opposite.
The control method of the deformation multi-dwelling robot comprises the following steps:
the method comprises the following steps: setting working modes of the deformation multi-purpose robot, namely a ground working mode, an air working mode, a water surface working mode and an underwater working mode;
step two: setting blade corners which are respectively a first gear blade corner, a second gear blade corner and a third gear blade corner; when the blades are positioned at the first gear blade corner, the ducted power mechanism does not generate thrust; when the blades are positioned at the second gear blade corner, the ducted power mechanism generates the maximum thrust in the air; when the blades are positioned at the third-gear blade rotating angle, the ducted power mechanism generates the maximum thrust in the water;
step three: setting wing spread angles which are respectively a first-gear wing spread angle, a second-gear wing spread angle and a third-gear wing spread angle; when the wing is at the first-gear wing spread angle, the wing does not generate lift force in the air; when the wing is at the second gear wing spread angle, the wing generates medium lift in the air; when the wing is at a third wing spread angle, the wing generates the maximum lift in the air;
step four: setting wheel postures which are respectively a ground driving posture, an air vertical flying posture, an air horizontal flying posture, a water surface sliding posture, an underwater horizontal navigation posture, an underwater submerging posture and an underwater floating posture; when the wheel postures are in the ground driving posture, the postures of the four wheels are the same, the included angles between a first support arm and a second support arm in the four wheel posture adjusting components are all 90 degrees, the left front wheel and the left rear wheel horizontally face the left side of the machine body, and the right front wheel and the right rear wheel horizontally face the right side of the machine body; when the wheel postures are in the vertical flying posture in the air, the postures of the four wheels are the same, the included angles between the first support arm and the second support arm in the four wheel posture adjusting components are all 90 degrees, and the four wheels vertically face to the right upper part of the airplane body; when the wheel attitude is in an air horizontal flight attitude or an underwater horizontal navigation attitude, the attitude of the four wheels is the same, the included angles between a first support arm and a second support arm in the wheel attitude adjusting assembly are both 180 degrees, a left front wheel and a right front wheel both horizontally face to the front of the airplane body, and a left rear wheel and a right rear wheel both horizontally face to the rear of the airplane body; when the wheel posture is in a water surface sliding posture, the postures of the left front wheel and the right front wheel are the same, the postures of the left rear wheel and the right rear wheel are the same, the included angles between a first support arm and a second support arm in the wheel posture adjusting assemblies of the left front wheel and the right front wheel are both 120 degrees, the left front wheel and the right front wheel are both inclined towards the oblique upper part of the machine body, the included angles between the first support arm and the second support arm in the wheel posture adjusting assemblies of the left rear wheel and the right rear wheel are both 180 degrees, and the left rear wheel and the right rear wheel are both horizontally towards the right rear part of the machine body; when the wheel posture is in the underwater diving posture, the postures of the left front wheel and the right front wheel are the same, the postures of the left rear wheel and the right rear wheel are the same, the included angles of a first support arm and a second support arm in the wheel posture adjusting assemblies of the left front wheel and the right front wheel are both 90-120 degrees, the left front wheel and the right front wheel are both inclined towards the oblique lower part of the machine body, the left front wheel and the right front wheel are always kept vertically downwards relative to a water body in the diving process, the included angles of the first support arm and the second support arm in the wheel posture adjusting assemblies of the left rear wheel and the right rear wheel are both 180 degrees, and the left rear wheel and the right rear wheel are both horizontally towards the right rear part of the machine body; when the wheel posture is in the water floating posture, the postures of the left front wheel and the right front wheel are the same, the postures of the left rear wheel and the right rear wheel are the same, the included angles of a first support arm and a second support arm in the wheel posture adjusting assemblies of the left front wheel and the right front wheel are both 90-120 degrees, the left front wheel and the right front wheel are both inclined towards the oblique upper part of the machine body, the left front wheel and the right front wheel are always kept vertically upwards relative to a water body in the floating process, the included angles of the first support arm and the second support arm in the wheel posture adjusting assemblies of the left rear wheel and the right rear wheel are both 180 degrees, and the left rear wheel and the right rear wheel are both horizontally towards the right rear part of the machine body;
step five: executing a ground working mode, an air working mode, a water surface working mode or an underwater working mode, and converting between different working modes;
first, ground working mode
The blade rotation angle is adjusted to a first-gear blade rotation angle, the wing spread angle is adjusted to a first-gear wing spread angle, the wheel posture is adjusted to a ground driving posture, the electromagnetic sleeve is electrified to enable the electromagnetic sleeve and the original magnet hub to be adsorbed together, the outer rotor motor is started to sequentially drive the blade, the electromagnetic sleeve, the original magnet hub and the rubber tire to rotate, and the deformable multi-purpose robot is enabled to drive on the ground;
secondly, converting the ground working mode into the air working mode
Vertical take-off
Firstly, enabling the deformation multi-dwelling robot to stand on the ground, adjusting the blade rotation angle to a second-gear blade rotation angle, adjusting the wing spread angle to a second-gear wing spread angle, adjusting the wheel posture to a vertical flight posture in the air, powering off an electromagnetic sleeve, separating the electromagnetic sleeve from an original magnet hub for adsorption, starting an outer rotor motor, sequentially driving the blades and the electromagnetic sleeve to rotate, and generating downward thrust by the blades at the moment to vertically lift the deformation multi-dwelling robot;
② take-off in slow running
The deformation multi-purpose robot keeps a ground slow-speed running state, the wing spread angle is adjusted to a second-gear wing spread angle, a right front wheel and a left rear wheel are turned to a vertically upward state, an electromagnetic sleeve is powered off, then the blade rotation angles in the right front wheel and the left rear wheel are adjusted to a second-gear blade rotation angle, blades in the right front wheel and the left rear wheel generate downward thrust, the deformation multi-purpose robot preliminarily leaves the ground under the action of the blade thrust, meanwhile, the gravity center adjustment of the deformation multi-purpose robot is completed, then an outer rotor motor in the left front wheel and the right rear wheel is turned off, the left front wheel is turned to a horizontal forward state, the right rear wheel is turned to a horizontal backward state, the electromagnetic sleeve is powered off, then the blade rotation angles in the left front wheel and the right rear wheel are adjusted to a second-gear blade rotation angle, and then the outer rotor motors in the left front wheel and the right rear wheel are restarted, the blades in the left front wheel and the right rear wheel generate backward thrust, when the transformable multi-purpose robot completely leaves the ground, the outer rotor motors in the right front wheel and the left rear wheel are firstly closed, then the right front wheel is turned to be in a horizontal forward state, the left rear wheel is turned to be in a horizontal backward state, meanwhile, the wing spread angle is adjusted to be a third-gear wing spread angle, then the outer rotor motors in the right front wheel and the left rear wheel are restarted, so that the blades in the right front wheel and the left rear wheel generate backward thrust, the wheel posture of the transformable multi-purpose robot is completely adjusted to be in an air horizontal flight posture, and the transformable multi-purpose robot realizes high-speed flight in the air horizontal flight posture;
③ high-speed running takeoff
The deformation multi-purpose robot keeps a high-speed running state on the ground, the wing spread angle is adjusted to a third-gear wing spread angle, the deformation multi-purpose robot leaves the ground primarily under the action of the wing lift force, meanwhile, the gravity center adjustment of the deformation multi-purpose robot is completed, the outer rotor motors in the right front wheel and the left rear wheel are turned off firstly, then the right front wheel is turned to a horizontal forward state, the left rear wheel is turned to a horizontal backward state, the electromagnetic sleeve is powered off, then the blade rotation angles in the right front wheel and the left rear wheel are adjusted to a second-gear blade rotation angle, then the outer rotor motors in the right front wheel and the left rear wheel are restarted to enable the blades in the right front wheel and the left rear wheel to generate backward thrust, when the deformation multi-purpose robot leaves the ground completely, the outer rotor motors in the left front wheel and the right rear wheel are turned off firstly, then the left front wheel is turned to a horizontal forward state, turning the right rear wheel to a horizontal backward state, powering off the electromagnetic sleeve, adjusting the blade rotation angle in the left front wheel and the right rear wheel to a second-gear blade rotation angle, restarting the outer rotor motors in the left front wheel and the right rear wheel to enable the blades in the left front wheel and the right rear wheel to generate backward thrust, and at the moment, completely adjusting the wheel attitude of the multi-purpose robot to an air horizontal flying attitude, so that the multi-purpose robot can fly at high speed in the air horizontal flying attitude;
three, aerial working mode
Flying with multiple rotors
After the deformation multi-purpose robot is vertically lifted off, blades in four wheels generate downward thrust, and in the process, the multi-rotor flight steering can be realized only by changing the inclination angles of the wheels;
② fixed wing flight
After the deformed multi-purpose robot takes off in a slow running mode or a high-speed running mode, blades in four wheels generate backward thrust, and the fixed wing flight steering can be realized only by changing the inclination angles of the wheels in the process;
thirdly, the multi-rotor flight is converted into the fixed-wing flight
When the transformable multi-dwelling robot carries out multi-rotor flight, the outer rotor motors in the left front wheel and the right rear wheel are closed firstly, the adjustment of the gravity center of the transformable multi-dwelling robot is completed simultaneously, then the left front wheel is turned to a horizontal forward state, the right rear wheel is turned to a horizontal backward state, then the outer rotor motors in the left front wheel and the right rear wheel are restarted, blades in the left front wheel and the right rear wheel generate backward thrust, the wing spread angle is adjusted to a third-gear wing spread angle, then the outer rotor motors in the right front wheel and the left rear wheel are closed, then the right front wheel is turned to a horizontal forward state, the left rear wheel is turned to a horizontal backward state, finally the outer rotor motors in the right front wheel and the left rear wheel are restarted, the blades in the right front wheel and the left rear wheel generate backward thrust, and at the moment, the wheel posture of the transformable multi-dwelling robot is completely adjusted to an aerial horizontal flight posture, the deformable multi-purpose robot realizes high-speed flight in the air horizontal flight attitude;
fourthly, converting fixed wing flight into multi-rotor flight
When the transformable multi-purpose robot flies in a fixed wing mode, the outer rotor motors in the left front wheel and the right rear wheel are closed firstly, the adjustment of the gravity center of the transformable multi-purpose robot is completed simultaneously, then the left front wheel and the right rear wheel are adjusted to be in a vertically upward state, then the outer rotor motors in the left front wheel and the right rear wheel are restarted, blades in the left front wheel and the right rear wheel generate downward thrust, meanwhile, the wing spread angle is adjusted to be a second-gear wing spread angle, then the outer rotor motors in the right front wheel and the left rear wheel are closed, then the right front wheel and the left rear wheel are adjusted to be in a vertically upward state, finally the outer rotor motors in the right front wheel and the left rear wheel are restarted, the blades in the right front wheel and the left rear wheel generate downward thrust, and at the moment, the wheel posture of the transformable multi-purpose robot is completely adjusted to be in an aerial vertical flying posture;
fourthly, converting the air working mode into the water surface working mode
First, vertically descend
When the transformable multi-dwelling robot carries out multi-rotor flight, the downward thrust generated by the blades in the four wheels is gradually reduced until the fuselage of the transformable multi-dwelling robot falls to the water surface, and then the wing spread angle is adjusted to a first-gear wing spread angle;
② glide and descend
When the transformable multi-purpose robot carries out fixed-wing flight, backward thrust generated by blades in four wheels is gradually reduced until the fuselage of the transformable multi-purpose robot slides and falls to the water surface, and then the wing spread angle is adjusted to a first-gear wing spread angle;
water surface working mode
Firstly, the water surface moves slowly
The deformation multi-purpose robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to a horizontal sailing posture in the water, the wing spread angle is adjusted to a first-gear wing spread angle, the outer rotor motors in the four wheels are started, blades in the four wheels generate backward thrust, and the deformation multi-purpose robot can realize the slow movement of the water surface;
② the water surface glides slowly
The deformation multi-purpose robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to the water surface sliding posture, the wing spread angle is adjusted to the first-gear wing spread angle, the outer rotor motors in the four wheels are started, so that blades in the left front wheel and the right front wheel generate downward oblique thrust, the blades in the left rear wheel and the right rear wheel generate backward thrust, and the deformation multi-purpose robot can realize slow gliding on the water surface;
thirdly, the water surface glides at high speed
The deformation multi-purpose robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to the water surface sliding posture, the wing spread angle is adjusted to the third-gear wing spread angle, the outer rotor motors in the four wheels are started, so that blades in the left front wheel and the right front wheel generate downward oblique thrust, the blades in the left rear wheel and the right rear wheel generate backward thrust, and the deformation multi-purpose robot can realize high-speed gliding on the water surface;
sixthly, converting the water surface working mode into the underwater working mode
The deformable multi-purpose robot floats on the water surface by means of buoyancy, when diving is needed, the wheel posture is adjusted to be in a diving posture in water, the wing spread angle is adjusted to be a first-gear wing spread angle, the blade corner is adjusted to be a third-gear blade corner, the water storage cabin is used for exhausting and injecting water, the outer rotor motors in the four wheels are started, blades in the left front wheel and the right front wheel generate upward thrust, blades in the left rear wheel and the right rear wheel generate backward thrust, when the set diving depth is reached, the water storage cabin stops exhausting and injecting water, and the deformable multi-purpose robot posture is adjusted to be in a horizontal sailing posture in water;
seven, underwater working mode
When the deformed multi-purpose robot is submerged to a set depth and then is in a horizontal sailing attitude in water, blades in four wheels generate backward thrust, and horizontal sailing steering can be realized only by changing the inclination angles of the wheels in the process;
eighthly, converting the underwater working mode into the water surface working mode
When the deformable multi-dwelling robot needs to float to the water surface from the water, the wheel posture is adjusted to the floating posture in the water, the wing spread angle is adjusted to the first-gear wing spread angle, the blade rotation angle is adjusted to the third-gear blade rotation angle, the water storage cabin is inflated and drained, the outer rotor motors in the four wheels are started, the blades in the left front wheel and the right front wheel generate downward thrust, the blades in the left rear wheel and the right rear wheel generate backward thrust, when the deformable multi-dwelling robot floats to the water surface, the water storage cabin stops inflating and draining, and the deformable multi-dwelling robot floats to the water surface by means of buoyancy;
ninthly, converting the water surface working mode into the air working mode
Firstly, take off vertically
The deformation multi-dwelling robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to a vertical flight posture in the air, the blade corner is adjusted to a second-gear blade corner, the wing spread angle is adjusted to a second-gear wing spread angle, and the outer rotor motors in the four wheels are started to enable the blades in the four wheels to generate downward thrust, so that the deformation multi-dwelling robot is vertically lifted off;
② gliding takeoff
The deformable multi-dwelling robot floats on the water surface by means of buoyancy, the wheel postures are adjusted to the water surface sliding postures, the blade corners are adjusted to the second-gear blade corners, the wing spread angles are adjusted to the third-gear wing spread angles, the outer rotor motors in the four wheels are started, so that blades in the left front wheel and the right front wheel generate downward oblique thrust, blades in the left rear wheel and the right rear wheel generate backward thrust, the deformable multi-dwelling robot leaves the water surface under the action of the wing lift force, then the wheel postures are adjusted to the air horizontal flying postures, and at the moment, the blades in the four wheels all generate backward thrust;
ten, aerial working mode is changed into ground working mode
First, vertically descend
When the transformable multi-dwelling robot carries out multi-rotor flight, the wing spread angle is adjusted to a second-gear wing spread angle, the outer rotor motors in the left front wheel and the right rear wheel are closed firstly, then the blade rotation angles in the left front wheel and the right rear wheel are adjusted to a first-gear blade rotation angle, meanwhile, the gravity center adjustment of the transformable multi-dwelling robot is completed, then the left front wheel is turned to a horizontal leftward state, the right rear wheel is turned to a horizontal rightward state, then the downward thrust generated by the blades in the right front wheel and the left rear wheel is gradually reduced, the transformable multi-dwelling robot slowly falls down until the left front wheel and the right rear wheel contact the ground, then the outer rotor motors in the right front wheel and the left rear wheel are closed, then the blade rotation angles in the right front wheel and the left rear wheel are adjusted to a first-gear blade rotation angle, then the right front wheel is turned to a horizontal rightward state, and the left rear wheel is turned to a horizontal leftward state, finally, adjusting the wing spread angle to a first-gear wing spread angle to change the posture of the deformable multi-purpose robot into a ground driving posture, then electrifying all electromagnetic sleeves in the four wheels, starting outer rotor motors in the four wheels to drive the four wheels to rotate, and finally driving the deformable multi-purpose robot to drive the ground;
② glide and descend
When the transformative multi-purpose robot carries out fixed-wing flight, the outer rotor motors in the four wheels are firstly closed, then the blade rotation angles in the four wheels are adjusted to the first-gear blade rotation angle, meanwhile, the gravity center adjustment of the transformative multi-purpose robot is completed, then the wheel postures are adjusted to the ground running postures until the transformative multi-purpose robot glides through the wings to land on the ground, after all the four wheels contact the ground, the wing spread angles are adjusted to the first-gear wing spread angles, then all the electromagnetic sleeves in the four wheels are electrified, then the outer rotor motors in the four wheels are started to drive the four wheels to rotate, and finally the transformative multi-purpose robot runs on the ground.
The invention has the beneficial effects that:
the deformation multi-purpose robot and the control method can realize water, land and air triphibious operation, can perform conversion under different working modes without clearance in a complex working environment, and provide a feasible scheme for completing a task target under special conditions.
Drawings
FIG. 1 is a schematic structural view of a transformable multi-purpose robot of the present invention;
FIG. 2 is a perspective view of the body of the transformable multi-dwelling robot of the present invention;
FIG. 3 is a top view of the body of the transformable multi-dwelling robot of the present invention;
FIG. 4 is a schematic view of the wing structure of the transformable multi-dwelling robot of the present invention;
FIG. 5 is an exploded view of the wheel attitude adjustment assembly of the transformable multi-purpose robot in accordance with the present invention;
FIG. 6 is an exploded view of the multi-function wheels of the transformable multi-purpose robot of the present invention;
FIG. 7 is a schematic structural diagram of an outer rotor motor of the transformable multi-dwelling robot in accordance with the present invention;
FIG. 8 is a schematic view of an assembly structure of a first body gravity adjusting mechanism and a pressure regulating assembly of a water storage tank of the transformable multi-dwelling robot of the present invention;
FIG. 9 is a schematic view of the assembly structure of the center of gravity adjusting mechanism and the central power supply assembly of the second body of the transformable multi-dwelling robot in accordance with the present invention;
FIG. 10 is a schematic view showing the state transition of the transformable multi-dwelling robot of the present invention between slow movement on the water surface, slow gliding on the water surface, and high gliding on the water surface;
FIG. 11 is a schematic view of a state transition of a morphing multi-dwelling robot of the present invention between fixed wing flight and multi-rotor flight;
FIG. 12 is a schematic diagram (I) illustrating the state transition of the transformable multi-dwelling robot of the present invention between different working modes;
FIG. 13 is a schematic view (II) of the state transition of the transformable multi-dwelling robot of the present invention between different working modes;
FIG. 14 is a schematic view (III) illustrating the state transition of the transformable multi-dwelling robot of the present invention between different working modes;
FIG. 15 is a schematic view (IV) illustrating the state transition of the transformable multi-dwelling robot of the present invention between different working modes;
FIG. 16 is a schematic diagram (V) illustrating the state transition of the transformable multi-dwelling robot of the present invention between different working modes;
FIG. 17 is a schematic View (VI) illustrating the state transition of the transformable multi-dwelling robot of the present invention between different working modes;
in the figure, 1-fuselage, 2-wing, 3-multifunctional wheel, 4-wheel attitude adjustment assembly, 5-front cargo, 6-middle cargo, 7-rear cargo, 8-left cargo, 9-right cargo, 10-main controller, 11-center of gravity adjuster, 12-communicator, 13-pressure adjuster, 14-power manager, 15-pitot tube, 16-satellite navigator, 17-first fuselage center of gravity adjustment chamber, 18-first water storage chamber, 19-first fuselage center of gravity adjustment mechanism, 20-water storage chamber pressure adjustment assembly, 21-second fuselage center of gravity adjustment chamber, 22-second water storage chamber, 23-second fuselage center of gravity adjustment mechanism, 24-center energy supply assembly, 25-vector motor, 26-driving pulley, 27-driven pulley, 28-belt, 29-guide slide rail, 30-slide block, 31-slide table plate, 32-water through hole, 33-electric seal cover, 34-an air compressor, 35-a high-pressure gas cylinder, 36-a fuel cell, 37-a storage battery, 38-a power converter, 39-a solar cell, 40-a wing folding and unfolding driving motor, 41-a first posture adjusting motor, 42-a first support arm, 43-a second posture adjusting motor, 44-a second support arm, 45-a rubber tire, 46-a primary magnet hub, 47-an electromagnetic sleeve, 48-a switching shaft, 49-a blade, 50-an external rotor motor, 51-a fairing, 52-a blade mounting seat, 53-a pin column, 54-a pin hole, 55-a chute, 56-a blade rotation angle adjusting motor, 57-a first reel, 58-a second reel, 59-a first guider, 60-a second guider, 61-a first branch column, 62-a second branch column and 63-a cable.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 9, the transformable multi-purpose robot comprises a body 1, two wings 2, multifunctional wheels 3 and wheel posture adjusting assemblies 4, wherein the two wings 2 are symmetrically arranged at the left side and the right side of the top of the body 1; the multifunctional wheel 3 quantity is four, and four multifunctional wheel 3 equipartitions all around the fuselage 1 set up, all link to each other through wheel attitude adjustment subassembly 4 between fuselage 1 and every multifunctional wheel 3.
A front warehouse 5, a middle warehouse 6, a rear warehouse 7, a left warehouse 8 and a right warehouse 9 are respectively arranged in the machine body 1; the middle cargo cabin 6 is divided into an upper layer and a lower layer, the two layers are separated by a sealing partition plate, the upper layer space is used for storing articles, and the lower layer space is respectively provided with a main controller 10, a gravity center regulator 11, a communicator 12, a pressure regulator 13, a power supply manager 14 and a satellite navigator 16; an image recognition camera, a laser radar and a pitot tube 15 are arranged at the front end of the machine body 1; the left cargo bin 8 is divided into an upper layer and a lower layer, the two layers are separated by a sealing partition plate, the upper layer space is used for storing articles, the lower layer space comprises a first body gravity and mind adjusting chamber 17 and a first water storage tank 18, a first body gravity and mind adjusting mechanism 19 is installed in the first body gravity and mind adjusting chamber 17, and a water storage tank pressure regulating assembly 20 is arranged on the first body gravity and mind adjusting mechanism 19; the right cargo cabin 9 is divided into an upper layer and a lower layer, the two layers are separated by a sealing partition plate, the upper layer space is used for storing articles, the lower layer space comprises a second machine body gravity center adjusting chamber 21 and a second water storage cabin 22, a second machine body gravity center adjusting mechanism 23 is installed in the second machine body gravity center adjusting chamber 21, and a center energy supply assembly 24 is arranged on the second machine body gravity center adjusting mechanism 23; a water pressure sensor is arranged in each of the first water storage tank 18 and the second water storage tank 22; the first body gravity center adjusting chamber 17 and the second body gravity center adjusting chamber 21 are distributed in bilateral symmetry, and the first water storage cabin 18 and the second water storage cabin 22 are distributed in bilateral symmetry.
The first body gravity center adjusting mechanism 19 and the second body gravity center adjusting mechanism 23 have the same structure and respectively comprise a vector motor 25, a driving belt wheel 26, a driven belt wheel 27, a belt 28, a guide slide rail 29, a slide block 30 and a sliding table plate 31; the guide sliding rails 29 adopt a parallel double-rail structure, the belt 28 is in transmission connection between the driving belt wheel 26 and the driven belt wheel 27, the belt 28 is positioned between the two guide sliding rails 29, the belt 28 is parallel to the guide sliding rails 29, and the driving belt wheel 26 is fixedly arranged on a motor shaft of the vector motor 25; the sliding block 30 is arranged on the guide sliding rail 29, the sliding table plate 31 is horizontally and fixedly arranged on the sliding block 30, the sliding table plate 31 can linearly move along the guide sliding rail 29 through the sliding block 31, and the lower surface of the sliding table plate 31 is fixedly connected with the belt 28; the water storage cabin pressure regulating assembly 20 is installed on a sliding table plate 31 of the first machine body gravity center regulating mechanism 19, and the center energy supply assembly 24 is installed on the sliding table plate 31 of the second machine body gravity center regulating mechanism 23.
The process of adjusting the center of gravity of the machine body is as follows: the main controller 10 firstly transmits a control instruction to the gravity center regulator 11, the gravity center regulator 11 further controls the vector motor 25 to rotate, under the driving of the vector motor 25, the driving belt wheel 26, the belt 28 and the driven belt wheel 27 are sequentially driven to rotate, along with the rotation of the belt 28, the sliding table plate 31 is driven to move along the guide sliding rail 29, at the moment, the water storage compartment pressure regulating assembly 20 or the central energy supply assembly 24 synchronously moves along with the sliding table plate 31, the change of the gravity center of the machine body is realized, and the gravity center regulator 11 controls the vector motor 25 to stop until the main controller 10 detects that the gravity center adjustment meets the requirement.
The first water storage cabin 18 and the second water storage cabin 22 have the same structure and are divided into an upper layer and a lower layer, the two layers are separated by a water-proof film, the upper layer space is used as a gas cabin, the lower layer space is used as a water cabin, a water through hole 32 is formed in a cabin bottom plate of the water cabin, the water cabin is communicated with the outside of the machine body 1 through the water through hole 32, and an electric sealing cover 33 is arranged at the position of the water through hole 32; the water storage cabin pressure regulating assembly 20 comprises an air compressor 34 and a high-pressure air cylinder 35, wherein an air suction port of the air compressor 34 is communicated with the gas cabin through a pipeline, an air exhaust port of the air compressor 34 is communicated with an air inlet of the high-pressure air cylinder 35 through a pipeline, and an air outlet of the high-pressure air cylinder 35 is communicated with the gas cabin through a pipeline.
The pressure regulating process of the water storage tank comprises the following steps: when the robot needs to dive, the water storage cabin then needs to be exhausted and injected with water, main control unit 10 at first transmits a control instruction to pressure regulator 13, pressure regulator 13 then controls air compressor 34 to start, air compressor 34 begins to take out the air in the gas cabin and returns to high-pressure gas cylinder 35, simultaneously control electric sealing cover 33 to open, along with the going on of air extraction, the pressure in the gas cabin reduces gradually, the water-stop membrane retracts upwards gradually, under the outside water pressure of fuselage, water can enter the water cabin through limbers 32, until the pressure in the gas cabin reduces to the set pressure, the robot begins to dive at the uniform velocity, at this moment, air compressor 34 stops, electric sealing cover 33 closes, limbers 32 are blocked through electric sealing cover 33. When the robot needs to come up, the water storage cabin then needs to be inflated and drained, main controller 10 firstly transmits a control command to pressure regulator 13, pressure regulator 13 then controls high-pressure gas cylinder 35 to open, high-pressure gas cylinder 35 begins to fill air into the gas cabin, and simultaneously controls electric sealing cover 33 to open, along with the progress of inflation, the waterproof membrane gradually expands downwards, and the expanded waterproof membrane gradually extrudes the water in the water cabin out of the machine body through limber hole 32, until the pressure in the gas cabin reaches the set pressure, at the moment, high-pressure gas cylinder 35 is closed, and simultaneously electric sealing cover 33 is closed, and limber hole 32 is blocked through electric sealing cover 33.
The central energy supply assembly 24 comprises a fuel cell 36, a storage battery 37 and a power converter 38, wherein the fuel cell 36 and the storage battery 37 are connected with a power input port of the power converter 38 through power lines, and a power output port of the power converter 38 supplies power to all electric parts of the robot through the power lines.
The upper surface of the wing 2 is provided with a solar battery 39, the wing root of the wing 2 is connected with a wing folding and unfolding driving motor 40, and the wing folding and unfolding driving motor 40 is embedded on the fuselage 1.
The wheel posture adjusting assembly 4 comprises a first posture adjusting motor 41, a first support arm 42, a second posture adjusting motor 43 and a second support arm 44, the first posture adjusting motor 41 is embedded on the machine body 1, one end of the first support arm 42 is fixedly connected to a motor shaft of the first posture adjusting motor 41, the other end of the first support arm 42 is hinged with one end of the second support arm 44, and the multifunctional wheel 3 is connected to the other end of the second support arm 44; the second posture adjusting motor 43 is installed at the hinged position of the first support arm 42 and the second support arm 44, the second posture adjusting motor 43 is used for driving the second support arm 44 to swing, and the first posture adjusting motor 41 is used for driving the first support arm 42 to rotate.
The wheel attitude adjustment process comprises the following steps: when the first posture adjustment motor 41 is started, the first support arm 42 can be controlled to rotate around the central axis thereof, and if the first support arm 42 and the second support arm 44 have an included angle at the moment, the rotation adjustment of the position of the multifunctional wheel 3 in the vertical plane can be realized in the rotation process of the first support arm 42. When the second posture adjustment motor 43 is started, the included angle of the second arm 44 relative to the first arm 42 can be controlled, and after the rotation angle of the first arm 42 is fixed, the direction adjustment of the multifunctional wheel 3 in the same plane can be realized through the swinging process of the second arm 44.
The multifunctional wheel 3 comprises a rubber tire 45, a primary magnet hub 46, an electromagnetic sleeve 47, an adapter shaft 48 and a ducted power mechanism; the rubber tire 45 is fixedly sleeved on an original magnet hub 46, the original magnet hub 46 is sleeved on an electromagnetic sleeve 47, and the inner surface of the original magnet hub 46 is in sliding contact fit with the outer surface of the electromagnetic sleeve 47; the ducted power mechanism is positioned on the inner side of the electromagnetic sleeve 47, the transfer shaft 48 penetrates through a central hole of the original magnet hub 46, one end of the transfer shaft 48 is fixedly connected with the second support arm 44, and the ducted power mechanism is connected to the other end of the transfer shaft 48.
The ducted power mechanism comprises blades 49, an outer rotor motor 50 and a fairing 51; an inner stator shaft of the outer rotor motor 50 is fixedly connected with the adapter shaft 48, a plurality of blade mounting seats 52 are uniformly distributed on the outer rotor sleeve of the outer rotor motor 50, each blade mounting seat 52 is of a straight rod-shaped structure, each blade mounting seat 52 is fixedly provided with one blade 49, the root of each blade 49 is fixedly connected onto the corresponding blade mounting seat 52, the center of the top of each blade 49 is fixedly provided with a pin 53, the inner surface of the electromagnetic sleeve 47 is provided with a pin hole 54, each pin 53 is positioned in the corresponding pin hole 54, and each pin 53 can freely rotate in the corresponding pin hole 54; a sliding groove 55 is formed in the surface of a rotor outer sleeve of the outer rotor motor 50, the blade mounting seat 52 is slidably connected in the sliding groove 55, the fairing 51 is buckled at the top of the outer rotor motor 50, a blade rotation angle adjusting motor 56 is arranged on the outer rotor motor 50 inside the fairing 51, a first coiling wheel 57 and a second coiling wheel 58 are fixedly connected in series on a motor shaft of the blade rotation angle adjusting motor 56, a first guider 59, a second guider 60, a first branch column 61 and a second branch column 62 are respectively arranged on the outer rotor motor 50, the first coiling wheel 57 is connected with one end of a cable 63 in a winding way, the other end of the cable 63 firstly passes through the first guider 59, then passes through the first branch column 61, then is sequentially fixed to pass through threading holes at the end parts of all the blade mounting seats 52, then passes through the second branch column 62, finally passes through the second guider 60 and then is connected to the second coiling wheel 58 in a winding way, and the winding direction of cord 63 on first reel 57 and second reel 58 is opposite.
The blade corner adjusting process comprises the following steps: firstly, the blade rotation angle adjusting motor 56 is started to drive the first winding wheel 57 and the second winding wheel 58 to synchronously rotate, taking the first winding wheel 57 for taking up wires, the second winding wheel 58 carries out synchronous paying off, in the process, the cable 63 moves relative to the outer rotor motor 50 in the circumferential direction and drives the blade mounting seat 52 to move in the sliding groove 55, and then the pin 53 at the center of the top of the blade 49 is driven to rotate in the pin hole 54 on the inner surface of the electromagnetic sleeve 47, and finally the adjustment of the rotation angle of the blade 49 is realized.
The control method of the deformation multi-dwelling robot comprises the following steps:
the method comprises the following steps: setting working modes of the deformation multi-purpose robot, namely a ground working mode, an air working mode, a water surface working mode and an underwater working mode;
step two: setting blade corners which are respectively a first gear blade corner, a second gear blade corner and a third gear blade corner; when the blades are positioned at the first gear blade corner, the ducted power mechanism does not generate thrust; when the blades are positioned at the second gear blade corner, the ducted power mechanism generates the maximum thrust in the air; when the blades are positioned at the third-gear blade rotating angle, the ducted power mechanism generates the maximum thrust in the water;
step three: setting wing spread angles which are respectively a first-gear wing spread angle (0 degree), a second-gear wing spread angle (25 degrees) and a third-gear wing spread angle (75 degrees); when the wing is at the first-gear wing spread angle, the wing does not generate lift force in the air; when the wing is at the second gear wing spread angle, the wing generates medium lift in the air; when the wing is at a third wing spread angle, the wing generates the maximum lift in the air;
step four: setting wheel postures which are respectively a ground driving posture, an air vertical flying posture, an air horizontal flying posture, a water surface sliding posture, an underwater horizontal navigation posture, an underwater submerging posture and an underwater floating posture; when the wheel postures are in the ground driving posture, the postures of the four wheels are the same, the included angles of the first support arm 42 and the second support arm 44 in the four wheel posture adjusting components 4 are all 90 degrees, the left front wheel and the left rear wheel horizontally face the left side of the machine body 1, and the right front wheel and the right rear wheel horizontally face the right side of the machine body 1; when the wheel postures are in the air vertical flight posture, the postures of the four wheels are the same, the included angles of the first support arm 42 and the second support arm 44 in the four wheel posture adjusting components 4 are all 90 degrees, and the four wheels vertically face to the right upper part of the airplane body 1; when the wheel attitude is in an air horizontal flight attitude or an underwater horizontal navigation attitude, the attitude of the four wheels is the same, the included angles of a first support arm 42 and a second support arm 44 in the wheel attitude adjusting assembly 4 are both 180 degrees, a left front wheel and a right front wheel both horizontally face to the front of the airframe 1, and a left rear wheel and a right rear wheel both horizontally face to the rear of the airframe 1; when the wheel posture is in the water surface sliding posture, the postures of the left front wheel and the right front wheel are the same, the postures of the left rear wheel and the right rear wheel are the same, the included angles of a first support arm 42 and a second support arm 44 in the wheel posture adjusting assembly 4 of the left front wheel and the right front wheel are both 120 degrees, the left front wheel and the right front wheel are both inclined towards the oblique upper part of the machine body 1, the included angles of the first support arm 42 and the second support arm 44 in the wheel posture adjusting assembly 4 of the left rear wheel and the right rear wheel are both 180 degrees, and the left rear wheel and the right rear wheel are both horizontally towards the right rear part of the machine body 1; when the wheel postures are in the underwater submerging posture, the postures of the left front wheel and the right front wheel are the same, the postures of the left rear wheel and the right rear wheel are the same, the included angles of a first support arm 42 and a second support arm 44 in the wheel posture adjusting assembly 4 of the left front wheel and the right front wheel are both 90-120 degrees, the left front wheel and the right front wheel are both inclined towards the oblique lower part of the machine body 1, the left front wheel and the right front wheel are always kept vertically downwards relative to a water body in the submerging process, the included angles of the first support arm 42 and the second support arm 44 in the wheel posture adjusting assembly 4 of the left rear wheel and the right rear wheel are both 180 degrees, and the left rear wheel and the right rear wheel are both horizontally towards the positive rear part of the machine body 1; when the wheel posture is in the water floating posture, the postures of the left front wheel and the right front wheel are the same, the postures of the left rear wheel and the right rear wheel are the same, the included angles of a first support arm 42 and a second support arm 44 in the wheel posture adjusting assembly 4 of the left front wheel and the right front wheel are both 90-120 degrees, the left front wheel and the right front wheel are both inclined towards the oblique upper part of the machine body 1, the left front wheel and the right front wheel are always kept vertically upwards relative to a water body in the floating process, the included angles of the first support arm 42 and the second support arm 44 in the wheel posture adjusting assembly 4 of the left rear wheel and the right rear wheel are both 180 degrees, and the left rear wheel and the right rear wheel are both horizontally towards the right rear part of the machine body 1;
step five: executing a ground working mode, an air working mode, a water surface working mode or an underwater working mode, and converting between different working modes;
first, ground working mode
The blade rotation angle is adjusted to a first-gear blade rotation angle, the wing spread angle is adjusted to a first-gear wing spread angle, the wheel posture is adjusted to a ground driving posture, the electromagnetic sleeve 47 is electrified, so that the electromagnetic sleeve 47 and the original magnet hub 46 are adsorbed together, the outer rotor motor 50 is started to sequentially drive the blades 49, the electromagnetic sleeve 47, the original magnet hub 46 and the rubber tire 45 to rotate, and the deformable multi-purpose robot is driven to run on the ground;
secondly, converting the ground working mode into the air working mode
Firstly, take off vertically
As shown in fig. 12a to 12c, firstly, the deformable multi-purpose robot is made to stand on the ground, the blade rotation angle is adjusted to the second-gear blade rotation angle, the wing spread angle is adjusted to the second-gear wing spread angle, the wheel posture is adjusted to the air vertical flight posture, the electromagnetic sleeve 47 is powered off, the electromagnetic sleeve 47 is separated from the original magnet hub 46 for adsorption, the outer rotor motor 50 is started to drive the blades 49 and the electromagnetic sleeve 47 to rotate in sequence, and at this time, the blades 49 generate downward thrust, so that the deformable multi-purpose robot is lifted vertically;
② take-off in slow running
As shown in fig. 13a to 13d, the transformable multi-purpose robot keeps a ground slow-speed running state, the wing span angle is adjusted to a second-gear wing span angle, the right front wheel and the left rear wheel are turned to a vertically upward state, the electromagnetic sleeve 47 is powered off, then the blade rotation angles in the right front wheel and the left rear wheel are adjusted to a second-gear blade rotation angle, so that the blades 49 in the right front wheel and the left rear wheel generate downward thrust, the transformable multi-purpose robot primarily leaves the ground under the action of the blade thrust, meanwhile, the gravity center adjustment of the transformable multi-purpose robot is completed, then the outer rotor motors 50 in the left front wheel and the right rear wheel are closed, then the left front wheel is turned to a horizontal forward state, the right rear wheel is turned to a horizontal backward state, the electromagnetic sleeve 47 is powered off, then the blade rotation angles in the left front wheel and the right rear wheel are adjusted to a second-gear blade rotation angle, and then the outer rotor motors 50 in the left front wheel and the right rear wheel are restarted, the blades 49 in the left front wheel and the right rear wheel generate backward thrust, when the deformable multi-dwelling robot completely leaves the ground, the outer rotor motor 50 in the right front wheel and the left rear wheel is firstly closed, then the right front wheel is turned to a horizontal forward state, the left rear wheel is turned to a horizontal backward state, meanwhile, the wing spread angle is adjusted to a third-gear wing spread angle, then the outer rotor motor 50 in the right front wheel and the left rear wheel is restarted, so that the blades 49 in the right front wheel and the left rear wheel generate backward thrust, at the moment, the wheel posture of the deformable multi-dwelling robot is completely adjusted to an air horizontal flying posture, and the deformable multi-dwelling robot realizes high-speed flying under the air horizontal flying posture;
③ high-speed running takeoff
As shown in fig. 14a to 14c, the transformable multi-dwelling robot keeps a high-speed running state on the ground, the wing spread angle is adjusted to a third-gear wing spread angle, the transformable multi-dwelling robot leaves the ground primarily under the action of the wing lift force, meanwhile, the gravity center adjustment of the transformable multi-dwelling robot is completed, the outer rotor motor 50 in the right front wheel and the left rear wheel is turned off, then the right front wheel is turned to a horizontal forward state, the left rear wheel is turned to a horizontal backward state, the electromagnetic sleeve 47 is powered off, then the blade rotation angles in the right front wheel and the left rear wheel are adjusted to a second-gear blade rotation angle, then the outer rotor motors 50 in the right front wheel and the left rear wheel are restarted, so that the blades 49 in the right front wheel and the left rear wheel generate backward thrust, when the transformable multi-dwelling robot leaves the ground completely, the outer rotor motors 50 in the left front wheel and the right rear wheel are turned off, then the left front wheel is turned to a horizontal state, turning the right rear wheel to a horizontal backward state, powering off the electromagnetic sleeve 47, adjusting the blade rotation angle in the left front wheel and the right rear wheel to a second-gear blade rotation angle, restarting the outer rotor motor 50 in the left front wheel and the right rear wheel, and enabling the blades 49 in the left front wheel and the right rear wheel to generate backward thrust, wherein the wheel attitude of the deformable multi-purpose robot is completely adjusted to an air horizontal flying attitude, and the deformable multi-purpose robot realizes high-speed flying under the air horizontal flying attitude;
three, aerial working mode
Flying with multiple rotors
As shown in fig. 11b, after the transformable multi-purpose robot is lifted off vertically, the blades 49 in the four wheels generate downward thrust, and in the process, the multi-rotor flight steering can be realized only by changing the inclination angles of the wheels;
② fixed wing flight
As shown in fig. 11a, after the deformed multi-purpose robot takes off in a slow-speed running mode or a high-speed running mode, the blades 49 in the four wheels generate backward thrust, and the fixed-wing flight steering can be realized only by changing the inclination angles of the wheels in the process;
thirdly, the multi-rotor flight is converted into the fixed-wing flight
As shown in fig. 12c to 12e, when the transformable multi-purpose robot performs multi-rotor flight, the outer rotor motors 50 in the left front wheel and the right rear wheel are turned off, the center of gravity of the transformable multi-purpose robot is adjusted, the left front wheel is turned to the horizontal forward state, the right rear wheel is turned to the horizontal backward state, the outer rotor motors 50 in the left front wheel and the right rear wheel are restarted to make the blades 49 in the left front wheel and the right rear wheel generate backward thrust, the wing spread angle is adjusted to the third gear wing spread angle, the outer rotor motors 50 in the right front wheel and the left rear wheel are turned off, the right front wheel is turned to the horizontal forward state, the left rear wheel is turned to the horizontal backward state, and the outer rotor motors 50 in the right front wheel and the left rear wheel are restarted to make the blades 49 in the right front wheel and the left rear wheel generate backward thrust, at the moment, the wheel attitude of the deformed multi-purpose robot is completely adjusted to the horizontal flight attitude in the air, and the deformed multi-purpose robot realizes high-speed flight in the horizontal flight attitude in the air;
fourthly, converting fixed wing flight into multi-rotor flight
As shown in fig. 12e to 12g, when the transformable multi-purpose robot performs fixed-wing flight, the outer rotor motor 50 in the front left wheel and the rear right wheel is turned off, and the center of gravity of the transformable multi-purpose robot is adjusted, then the left front wheel and the right rear wheel are both adjusted to be in a vertical upward state, the outer rotor motors 50 in the left front wheel and the right rear wheel are restarted, so that the blades 49 in the left front wheel and the right rear wheel generate downward thrust, meanwhile, the wing spread angle is adjusted to a second gear wing spread angle, then the outer rotor motor 50 in the right front wheel and the left rear wheel is closed, then, the right front wheel and the left rear wheel are both adjusted to be in a vertically upward state, and finally the outer rotor motors 50 in the right front wheel and the left rear wheel are restarted to enable the blades 49 in the right front wheel and the left rear wheel to generate downward thrust, so that the wheel attitude of the deformable multi-purpose robot is completely adjusted to be in an air vertical flight attitude;
fourthly, converting the air working mode into the water surface working mode
First, vertically descend
As shown in fig. 15a to 15b, when the transformable multi-purpose robot performs multi-rotor flight, the downward thrust generated by the blades 49 in the four wheels is gradually reduced until the fuselage 1 of the transformable multi-purpose robot falls to the water surface, and then the wing spread angle is adjusted to the first wing spread angle;
② glide and descend
As shown in fig. 16a to 16b, when the transformable multi-purpose robot performs fixed-wing flight, the backward thrust generated by the blades 49 in the four wheels is gradually reduced until the fuselage 1 of the transformable multi-purpose robot slides and falls to the water surface, and then the wing spread angle is adjusted to the first-gear wing spread angle;
water surface working mode
Firstly, the water surface moves slowly
As shown in fig. 10a, the deformed multi-purpose robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to the horizontal sailing posture in the water, the wing spread angle is adjusted to the first wing spread angle, the outer rotor motors 50 in the four wheels are started, so that the blades 49 in the four wheels generate backward thrust, and the deformed multi-purpose robot can realize the slow movement of the water surface;
② the water surface glides slowly
As shown in fig. 10b, the deformed multi-dwelling robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to the water surface gliding posture, the wing spread angle is adjusted to the first-gear wing spread angle, the outer rotor motors 50 in the four wheels are started, so that the blades 49 in the left front wheel and the right front wheel generate downward oblique thrust, the blades 49 in the left rear wheel and the right rear wheel generate backward thrust, and the deformed multi-dwelling robot can realize slow gliding on the water surface;
thirdly, the water surface glides at high speed
As shown in fig. 10c, the transformable multi-dwelling robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to the water surface gliding posture, the wing spread angle is adjusted to the third-gear wing spread angle, the outer rotor motors 50 in the four wheels are started, so that the blades 49 in the left front wheel and the right front wheel generate downward oblique thrust, the blades 49 in the left rear wheel and the right rear wheel generate backward thrust, and at the moment, the transformable multi-dwelling robot can realize high-speed gliding on the water surface;
sixthly, converting the water surface working mode into the underwater working mode
As shown in fig. 16a to 16d, the deformable multi-purpose robot floats on the water surface by virtue of buoyancy, when diving is required, the wheel posture is adjusted to the underwater diving posture, the wing spread angle is adjusted to the first-gear wing spread angle, the blade rotation angle is adjusted to the third-gear blade rotation angle, the water storage cabin is used for exhausting and injecting water, the outer rotor motors 50 in the four wheels are started, so that the blades 49 in the left front wheel and the right front wheel generate upward thrust, the blades 49 in the left rear wheel and the right rear wheel generate backward thrust, when the set diving depth is reached, the water storage cabin stops exhausting and injecting water, and the posture of the deformable multi-purpose robot is adjusted to the underwater horizontal sailing posture;
seven, underwater working mode
As shown in fig. 16d, when the deformed multi-purpose robot is submerged to a set depth and then is in a horizontal sailing posture in water, the blades 49 in the four wheels all generate backward thrust, and the horizontal sailing steering can be realized only by changing the inclination angles of the wheels in the process;
eighthly, converting the underwater working mode into the water surface working mode
As shown in fig. 16d to 16f, when the transformable multi-purpose robot needs to float to the water surface from the underwater, the wheel posture is adjusted to the floating posture in the water, the wing spread angle is adjusted to the first-gear wing spread angle, the blade rotation angle is adjusted to the third-gear blade rotation angle, the water storage tank is inflated and drained, the outer rotor motors 50 in the four wheels are started, the blades 49 in the left front wheel and the right front wheel generate downward thrust, the blades 49 in the left rear wheel and the right rear wheel generate backward thrust, and after the transformable multi-purpose robot floats to the water surface, the water storage tank stops being inflated and drained, and the transformable multi-purpose robot floats to the water surface by virtue of buoyancy;
ninthly, converting the water surface working mode into the air working mode
Vertical take-off
As shown in fig. 17a to 17c, the deformed multi-purpose robot floats on the water surface by means of buoyancy, the wheel attitude is adjusted to a vertical flight attitude in the air, the blade rotation angle is adjusted to a second-gear blade rotation angle, the wing spread angle is adjusted to a second-gear wing spread angle, the outer rotor motors 50 in the four wheels are started, so that the blades 49 in the four wheels generate downward thrust, and the deformed multi-purpose robot is vertically lifted off;
②, take off in gliding manner
As shown in fig. 17c to 17f, the deformed multi-purpose robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to the water surface sliding posture, the blade rotation angle is adjusted to the second-gear blade rotation angle, the wing spread angle is adjusted to the third-gear wing spread angle, the outer rotor motors 50 in the four wheels are started, so that the blades 49 in the left front wheel and the right front wheel generate downward thrust, the blades 49 in the left rear wheel and the right rear wheel generate backward thrust, the deformed multi-purpose robot leaves the water surface under the action of the wing lift force, and then the wheel posture is adjusted to the air horizontal flying posture, and at the moment, the blades 49 in the four wheels all generate backward thrust;
ten, aerial working mode is changed into ground working mode
First, vertically descend
As shown in fig. 12 g-12 i, when the transformable multi-dwelling robot performs multi-rotor flight, the wing span angle is adjusted to the second-gear wing span angle, the outer rotor motors 50 in the front left wheel and the rear right wheel are turned off, then the blade rotation angles in the front left wheel and the rear right wheel are adjusted to the first-gear blade rotation angles, meanwhile, the gravity center adjustment of the transformable multi-dwelling robot is completed, then the front left wheel is turned to the horizontal leftward state, the rear right wheel is turned to the horizontal rightward state, then the downward thrust generated by the blades 49 in the front right wheel and the rear left wheel is gradually reduced, so that the transformable multi-dwelling robot slowly falls down until the front left wheel and the rear right wheel contact the ground, then the outer rotor motors 50 in the front right wheel and the rear left wheel are turned off, then the blade rotation angles in the front right wheel and the rear left wheel are adjusted to the first-gear blade rotation angles, then the front right wheel is turned to the horizontal rightward state, turning the left rear wheel to a horizontal leftward state, finally adjusting the wing spread angle to a first-gear wing spread angle to change the posture of the deformable multi-dwelling robot into a ground driving posture, then electrifying all the electromagnetic sleeves 47 in the four wheels, starting the outer rotor motors 50 in the four wheels to drive the four wheels to rotate, and finally enabling the deformable multi-dwelling robot to drive on the ground;
② glide and descend
As shown in fig. 13d to 13f, when the morphing multi-purpose robot performs fixed-wing flight, the outer rotor motors 50 in the four wheels are turned off, then the blade rotation angles in the four wheels are adjusted to the first-gear blade rotation angle, meanwhile, the center of gravity adjustment of the morphing multi-purpose robot is completed, then the wheel postures are adjusted to the ground driving postures until the morphing multi-purpose robot glides and lands on the ground through the wings, when all the four wheels contact the ground, the wing spread angles are adjusted to the first-gear wing spread angles, then all the electromagnetic sleeves 47 in the four wheels are electrified, then the outer rotor motors 50 in the four wheels are started to drive the four wheels to rotate, and finally, the morphing multi-purpose robot drives on the ground.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are included in the claims of the present application.
Claims (7)
1. A transformable multi-purpose robot is characterized in that: the aircraft comprises an airframe, two wings, multifunctional wheels and wheel posture adjusting components, wherein the two wings are symmetrically arranged on the left side and the right side of the top of the airframe; the multifunctional wheels are four in number, the four multifunctional wheels are uniformly distributed on the periphery of the machine body, and the machine body is connected with each multifunctional wheel through a wheel posture adjusting assembly;
the wheel posture adjusting assembly comprises a first posture adjusting motor, a first support arm, a second posture adjusting motor and a second support arm, the first posture adjusting motor is embedded in the machine body, one end of the first support arm is fixedly connected to a motor shaft of the first posture adjusting motor, the other end of the first support arm is hinged to one end of the second support arm, and the multifunctional wheel is connected to the other end of the second support arm; the second posture adjusting motor is arranged at the hinged position of the first support arm and the second support arm and used for driving the second support arm to do swinging motion, and the first posture adjusting motor is used for driving the first support arm to do rotating motion;
the multifunctional wheel comprises a rubber tire, an original magnet hub, an electromagnetic sleeve, a switching shaft and a duct power mechanism; the rubber tire is fixedly sleeved on an original magnet hub, the original magnet hub is sleeved on an electromagnetic sleeve, and the inner surface of the original magnet hub is in sliding contact fit with the outer surface of the electromagnetic sleeve; the duct power mechanism is positioned on the inner side of the electromagnetic sleeve, the switching shaft penetrates through a center hole of the original magnet hub, one end of the switching shaft is fixedly connected with the second support arm, and the duct power mechanism is connected to the other end of the switching shaft;
the ducted power mechanism comprises blades, an outer rotor motor and a fairing; the inner stator shaft of the outer rotor motor is fixedly connected with the adapter shaft, a plurality of blade mounting seats are uniformly distributed on the outer rotor sleeve of the outer rotor motor, the blade mounting seats are of straight rod-shaped structures, each blade mounting seat is fixedly provided with a blade, the root of each blade is fixedly connected onto the corresponding blade mounting seat, the center of the top of each blade is fixedly provided with a pin post, the inner surface of the electromagnetic sleeve is provided with a pin hole, the pin post is positioned in the pin hole, and the pin post can freely rotate in the pin hole; a chute is arranged on the surface of a rotor outer sleeve of the outer rotor motor, the blade mounting seat is connected in the chute in a sliding way, the fairing is buckled at the top of the outer rotor motor, a blade rotation angle adjusting motor is arranged on the outer rotor motor in the fairing, a first winding wheel and a second winding wheel are fixedly connected in series on a motor shaft of the blade rotation angle adjusting motor, a first guider, a second guider, a first direction dividing column and a second direction dividing column are respectively arranged on the outer rotor motor, the first wire winding wheel is connected with one end of the cable in a winding way, the other end of the cable firstly passes through the first guider and then bypasses the first branch column, then the thread holes are sequentially and fixedly penetrated through the end parts of all the blade mounting seats, then the thread holes are wound around the second branch column, finally the thread holes penetrate through the second guider and then are wound and connected on the second winding wheel, and the winding directions of threads on the first winding wheel and the second winding wheel are opposite.
2. The transformable multi-dwelling robot of claim 1, wherein: the inside of the machine body is respectively provided with a front warehouse, a middle warehouse, a rear warehouse, a left warehouse and a right warehouse; the middle cargo cabin is divided into an upper layer and a lower layer, the two layers are separated by a sealing partition plate, the upper layer space is used for storing articles, and the lower layer space is respectively provided with a main controller, a gravity center regulator, a communicator, a pressure regulator, a power supply manager and a satellite navigator; an image recognition camera, a laser radar and an airspeed head are arranged at the front end of the machine body; the left cargo bin is divided into an upper layer and a lower layer, the two layers are separated by a sealing partition plate, the upper layer space is used for storing articles, the lower layer space comprises a first body gravity and mind adjusting chamber and a first water storage tank, a first body gravity and mind adjusting mechanism is installed in the first body gravity and mind adjusting chamber, and a water storage tank pressure regulating assembly is arranged on the first body gravity and mind adjusting mechanism; the right cargo cabin is divided into an upper layer and a lower layer, the two layers are separated by a sealing partition plate, the upper layer space is used for storing articles, the lower layer space comprises a second machine body gravity center adjusting chamber and a second water storage cabin, a second machine body gravity center adjusting mechanism is installed in the second machine body gravity center adjusting chamber, and a central energy supply assembly is arranged on the second machine body gravity center adjusting mechanism; water pressure sensors are arranged in the first water storage cabin and the second water storage cabin; the first fuselage center of gravity regulating chamber and the second fuselage center of gravity regulating chamber are distributed in a bilateral symmetry mode, and the first water storage cabin and the second water storage cabin are distributed in a bilateral symmetry mode.
3. The transformable multi-dwelling robot of claim 2, wherein: the first machine body gravity center adjusting mechanism and the second machine body gravity center adjusting mechanism are identical in structure and respectively comprise a vector motor, a driving belt wheel, a driven belt wheel, a belt, a guide sliding rail, a sliding block and a sliding table plate; the guide sliding rails adopt a parallel double-rail structure, the belt is in transmission connection between the driving belt wheel and the driven belt wheel, the belt is positioned between the two guide sliding rails and is parallel to the guide sliding rails, and the driving belt wheel is fixedly arranged on a motor shaft of the vector motor; the sliding block is arranged on the guide sliding rail, the sliding table plate is horizontally and fixedly arranged on the sliding block, the sliding table plate can linearly move along the guide sliding rail through the sliding block, and the lower surface of the sliding table plate is fixedly connected with the belt; the water storage tank pressure regulating assembly is installed on a sliding table plate of the first machine body gravity center regulating mechanism, and the center energy supply assembly is installed on a sliding table plate of the second machine body gravity center regulating mechanism.
4. The transformable multi-dwelling robot of claim 2, wherein: the first water storage cabin and the second water storage cabin are identical in structure and are divided into an upper layer and a lower layer, the two layers are separated by a water-proof film, the upper layer space serves as a gas cabin, the lower layer space serves as a water cabin, a cabin bottom plate of the water cabin is provided with a water through hole, the water cabin is communicated with the outside of the machine body through the water through hole, and an electric sealing cover is arranged at the water through hole; the pressure regulating assembly of the water storage cabin comprises an air compressor and a high-pressure gas cylinder, an air suction port of the air compressor is communicated with the gas cabin through a pipeline, an air exhaust port of the air compressor is communicated with an air inlet of the high-pressure gas cylinder, and an air outlet of the high-pressure gas cylinder is communicated with the gas cabin through a pipeline.
5. The transformable multi-dwelling robot of claim 2, wherein: the central energy supply assembly comprises a fuel cell, a storage battery and a power converter, the fuel cell and the storage battery are connected with a power input port of the power converter through power lines, and a power output port of the power converter supplies power to all power utilization parts of the robot through the power lines.
6. The transformable multi-dwelling robot of claim 1, wherein: the solar energy battery is arranged on the upper surface of the wing, the wing root of the wing is connected with a wing folding and unfolding driving motor, and the wing folding and unfolding driving motor is embedded in the fuselage.
7. The method for controlling a transformable multi-dwelling robot as set forth in claim 1, characterized by comprising the steps of:
the method comprises the following steps: setting working modes of the deformation multi-purpose robot, namely a ground working mode, an air working mode, a water surface working mode and an underwater working mode;
step two: setting blade corners which are respectively a first gear blade corner, a second gear blade corner and a third gear blade corner; when the blades are positioned at the first gear blade rotation angle, the ducted power mechanism does not generate thrust; when the blades are positioned at the second gear blade corner, the ducted power mechanism generates the maximum thrust in the air; when the blades are positioned at the third-gear blade rotating angle, the ducted power mechanism generates the maximum thrust in the water;
step three: setting wing spread angles which are respectively a first-gear wing spread angle, a second-gear wing spread angle and a third-gear wing spread angle; when the wing is at a first-gear wing spread angle, the wing does not generate lift in the air; when the wing is at the second gear wing spread angle, the wing generates medium lift in the air; when the wing is at a third-gear wing spread angle, the wing generates the maximum lift in the air;
step four: setting wheel postures which are respectively a ground driving posture, an air vertical flying posture, an air horizontal flying posture, a water surface sliding posture, an underwater horizontal navigation posture, an underwater submerging posture and an underwater floating posture; when the wheel postures are in the ground driving posture, the postures of the four wheels are the same, the included angles between a first support arm and a second support arm in the four wheel posture adjusting components are all 90 degrees, the left front wheel and the left rear wheel horizontally face the left side of the machine body, and the right front wheel and the right rear wheel horizontally face the right side of the machine body; when the wheel postures are in the vertical flight posture in the air, the postures of the four wheels are the same, the included angles between the first support arm and the second support arm in the four wheel posture adjusting assemblies are all 90 degrees, and the four wheels vertically face to the right upper part of the airplane body; when the wheel attitude is in an air horizontal flight attitude or an underwater horizontal navigation attitude, the attitudes of the four wheels are the same, the included angles between a first support arm and a second support arm in the wheel attitude adjusting assembly are both 180 degrees, a left front wheel and a right front wheel both horizontally face to the front of the machine body, and a left rear wheel and a right rear wheel both horizontally face to the rear of the machine body; when the wheel posture is in a water surface sliding posture, the postures of the left front wheel and the right front wheel are the same, the postures of the left rear wheel and the right rear wheel are the same, the included angles between a first support arm and a second support arm in the wheel posture adjusting assemblies of the left front wheel and the right front wheel are both 120 degrees, the left front wheel and the right front wheel are both inclined towards the oblique upper part of the machine body, the included angles between the first support arm and the second support arm in the wheel posture adjusting assemblies of the left rear wheel and the right rear wheel are both 180 degrees, and the left rear wheel and the right rear wheel are both horizontally towards the right rear part of the machine body; when the wheel posture is in the underwater diving posture, the postures of the left front wheel and the right front wheel are the same, the postures of the left rear wheel and the right rear wheel are the same, the included angles of a first support arm and a second support arm in the wheel posture adjusting assemblies of the left front wheel and the right front wheel are both 90-120 degrees, the left front wheel and the right front wheel are both inclined towards the oblique lower part of the machine body, the left front wheel and the right front wheel are always kept vertically downwards relative to a water body in the diving process, the included angles of the first support arm and the second support arm in the wheel posture adjusting assemblies of the left rear wheel and the right rear wheel are both 180 degrees, and the left rear wheel and the right rear wheel are both horizontally towards the right rear part of the machine body; when the wheel posture is in the water floating posture, the postures of the left front wheel and the right front wheel are the same, the postures of the left rear wheel and the right rear wheel are the same, the included angles of a first support arm and a second support arm in the wheel posture adjusting assemblies of the left front wheel and the right front wheel are both 90-120 degrees, the left front wheel and the right front wheel are both inclined towards the oblique upper part of the machine body, the left front wheel and the right front wheel are always kept vertically upwards relative to a water body in the floating process, the included angles of the first support arm and the second support arm in the wheel posture adjusting assemblies of the left rear wheel and the right rear wheel are both 180 degrees, and the left rear wheel and the right rear wheel are both horizontally towards the right rear part of the machine body;
step five: executing a ground working mode, an air working mode, a water surface working mode or an underwater working mode, and converting between different working modes;
first, ground working mode
The blade rotation angle is adjusted to a first-gear blade rotation angle, the wing spread angle is adjusted to a first-gear wing spread angle, the wheel posture is adjusted to a ground driving posture, the electromagnetic sleeve is electrified to enable the electromagnetic sleeve and the original magnet hub to be adsorbed together, the outer rotor motor is started to sequentially drive the blade, the electromagnetic sleeve, the original magnet hub and the rubber tire to rotate, and the deformed multi-purpose robot is driven to run on the ground;
secondly, converting the ground working mode into the air working mode
Firstly, take off vertically
Firstly, the deformation multi-purpose robot is made to stand on the ground, the blade rotation angle is adjusted to a second-gear blade rotation angle, the wing spread angle is adjusted to a second-gear wing spread angle, the wheel posture is adjusted to an air vertical flight posture, the electromagnetic sleeve is powered off, the electromagnetic sleeve and the original magnet hub are separated from adsorption, the outer rotor motor is started to drive the blades and the electromagnetic sleeve to rotate in sequence, and at the moment, the blades generate downward thrust to make the deformation multi-purpose robot vertically lift off;
② take-off in slow running
The deformation multi-purpose robot keeps a ground slow-speed running state, the wing spread angle is adjusted to a second-gear wing spread angle, a right front wheel and a left rear wheel are turned to a vertically upward state, an electromagnetic sleeve is powered off, then the blade rotation angles in the right front wheel and the left rear wheel are adjusted to a second-gear blade rotation angle, blades in the right front wheel and the left rear wheel generate downward thrust, the deformation multi-purpose robot preliminarily leaves the ground under the action of the blade thrust, meanwhile, the gravity center adjustment of the deformation multi-purpose robot is completed, then an outer rotor motor in the left front wheel and the right rear wheel is turned off, the left front wheel is turned to a horizontal forward state, the right rear wheel is turned to a horizontal backward state, the electromagnetic sleeve is powered off, then the blade rotation angles in the left front wheel and the right rear wheel are adjusted to a second-gear blade rotation angle, and then the outer rotor motors in the left front wheel and the right rear wheel are restarted, the blades in the left front wheel and the right rear wheel generate backward thrust, when the deformable multi-purpose robot completely leaves the ground, the outer rotor motors in the right front wheel and the left rear wheel are firstly closed, then the right front wheel is turned to a horizontal forward state, the left rear wheel is turned to a horizontal backward state, the wing spread angle is adjusted to a third-gear wing spread angle, then the outer rotor motors in the right front wheel and the left rear wheel are restarted, so that the blades in the right front wheel and the left rear wheel generate backward thrust, the wheel posture of the deformable multi-purpose robot is completely adjusted to an air horizontal flying posture at the moment, and the deformable multi-purpose robot realizes high-speed flying under the air horizontal flying posture;
③ high-speed running takeoff
The deformation multi-purpose robot keeps a high-speed running state on the ground, the wing spread angle is adjusted to a third-gear wing spread angle, the deformation multi-purpose robot leaves the ground primarily under the action of the wing lift force, meanwhile, the gravity center adjustment of the deformation multi-purpose robot is completed, the outer rotor motors in the right front wheel and the left rear wheel are turned off firstly, then the right front wheel is turned to a horizontal forward state, the left rear wheel is turned to a horizontal backward state, the electromagnetic sleeve is powered off, then the blade rotation angles in the right front wheel and the left rear wheel are adjusted to a second-gear blade rotation angle, then the outer rotor motors in the right front wheel and the left rear wheel are restarted to enable the blades in the right front wheel and the left rear wheel to generate backward thrust, when the deformation multi-purpose robot leaves the ground completely, the outer rotor motors in the left front wheel and the right rear wheel are turned off firstly, then the left front wheel is turned to a horizontal forward state, turning the right rear wheel to a horizontal backward state, powering off the electromagnetic sleeve, adjusting the blade rotation angle in the left front wheel and the right rear wheel to a second-gear blade rotation angle, restarting the outer rotor motors in the left front wheel and the right rear wheel to enable the blades in the left front wheel and the right rear wheel to generate backward thrust, and at the moment, completely adjusting the wheel attitude of the multi-purpose robot to an air horizontal flying attitude, so that the multi-purpose robot can fly at high speed in the air horizontal flying attitude;
three, aerial working mode
Flying with multiple rotors
After the deformation multi-purpose robot is vertically lifted off, blades in four wheels generate downward thrust, and in the process, the multi-rotor flight steering can be realized only by changing the inclination angles of the wheels;
flight with fixed wings
After the deformed multi-purpose robot takes off in a slow running mode or a high-speed running mode, blades in four wheels generate backward thrust, and the fixed wing flight steering can be realized only by changing the inclination angles of the wheels in the process;
thirdly, the multi-rotor flight is converted into the fixed-wing flight
When the transformable multi-dwelling robot carries out multi-rotor flight, the outer rotor motors in the left front wheel and the right rear wheel are closed firstly, the adjustment of the gravity center of the transformable multi-dwelling robot is completed simultaneously, then the left front wheel is turned to a horizontal forward state, the right rear wheel is turned to a horizontal backward state, then the outer rotor motors in the left front wheel and the right rear wheel are restarted, blades in the left front wheel and the right rear wheel generate backward thrust, the wing spread angle is adjusted to a third-gear wing spread angle, then the outer rotor motors in the right front wheel and the left rear wheel are closed, then the right front wheel is turned to a horizontal forward state, the left rear wheel is turned to a horizontal backward state, finally the outer rotor motors in the right front wheel and the left rear wheel are restarted, the blades in the right front wheel and the left rear wheel generate backward thrust, and at the moment, the wheel posture of the transformable multi-dwelling robot is completely adjusted to an aerial horizontal flight posture, the deformable multi-purpose robot realizes high-speed flight in the air horizontal flight attitude;
fourthly, converting fixed wing flight into multi-rotor flight
When the transformable multi-purpose robot flies in a fixed wing mode, the outer rotor motors in the left front wheel and the right rear wheel are closed firstly, the adjustment of the gravity center of the transformable multi-purpose robot is completed simultaneously, then the left front wheel and the right rear wheel are adjusted to be in a vertically upward state, then the outer rotor motors in the left front wheel and the right rear wheel are restarted, blades in the left front wheel and the right rear wheel generate downward thrust, meanwhile, the wing spread angle is adjusted to be a second-gear wing spread angle, then the outer rotor motors in the right front wheel and the left rear wheel are closed, then the right front wheel and the left rear wheel are adjusted to be in a vertically upward state, finally the outer rotor motors in the right front wheel and the left rear wheel are restarted, the blades in the right front wheel and the left rear wheel generate downward thrust, and at the moment, the wheel posture of the transformable multi-purpose robot is completely adjusted to be in an aerial vertical flying posture;
fourthly, converting the air working mode into the water surface working mode
Firstly, vertically descending
When the transformable multi-purpose robot carries out multi-rotor flight, the downward thrust generated by the blades in the four wheels is gradually reduced until the fuselage of the transformable multi-purpose robot falls to the water surface, and then the wing spread angle is adjusted to a first-gear wing spread angle;
② glide and descend
When the transformable multi-purpose robot carries out fixed-wing flight, backward thrust generated by blades in four wheels is gradually reduced until the fuselage of the transformable multi-purpose robot slides and falls to the water surface, and then the wing spread angle is adjusted to a first-gear wing spread angle;
water surface working mode
Firstly, the water surface moves slowly
The deformation multi-purpose robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to a horizontal sailing posture in the water, the wing spread angle is adjusted to a first-gear wing spread angle, the outer rotor motors in the four wheels are started, blades in the four wheels generate backward thrust, and the deformation multi-purpose robot can realize the slow movement of the water surface;
② the water surface glides slowly
The deformation multi-purpose robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to the water surface sliding posture, the wing spread angle is adjusted to the first-gear wing spread angle, the outer rotor motors in the four wheels are started, so that blades in the left front wheel and the right front wheel generate downward oblique thrust, the blades in the left rear wheel and the right rear wheel generate backward thrust, and the deformation multi-purpose robot can realize slow gliding on the water surface;
thirdly, the water surface glides at high speed
The deformation multi-purpose robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to the water surface sliding posture, the wing spread angle is adjusted to the third-gear wing spread angle, the outer rotor motors in the four wheels are started, so that blades in the left front wheel and the right front wheel generate downward oblique thrust, the blades in the left rear wheel and the right rear wheel generate backward thrust, and the deformation multi-purpose robot can realize high-speed gliding on the water surface;
sixthly, converting the water surface working mode into the underwater working mode
The deformable multi-purpose robot floats on the water surface by means of buoyancy, when diving is needed, the wheel posture is adjusted to be in a diving posture in water, the wing spread angle is adjusted to be a first-gear wing spread angle, the blade corner is adjusted to be a third-gear blade corner, the water storage cabin is used for exhausting and injecting water, the outer rotor motors in the four wheels are started, blades in the left front wheel and the right front wheel generate upward thrust, blades in the left rear wheel and the right rear wheel generate backward thrust, when the set diving depth is reached, the water storage cabin stops exhausting and injecting water, and the deformable multi-purpose robot posture is adjusted to be in a horizontal sailing posture in water;
seven, underwater working mode
When the deformed multi-purpose robot is submerged to a set depth and then is in a horizontal sailing attitude in water, blades in four wheels generate backward thrust, and horizontal sailing steering can be realized only by changing the inclination angles of the wheels in the process;
eighthly, converting the underwater working mode into the water surface working mode
When the deformable multi-purpose robot needs to float to the water surface from the water, the wheel posture is adjusted to the floating posture in the water, the wing spread angle is adjusted to the first-gear wing spread angle, the blade rotation angle is adjusted to the third-gear blade rotation angle, the water storage cabin is inflated and drained, the outer rotor motors in the four wheels are started, the blades in the left front wheel and the right front wheel generate downward thrust, the blades in the left rear wheel and the right rear wheel generate backward thrust, when the deformable multi-purpose robot floats to the water surface, the water storage cabin stops inflating and draining, and the deformable multi-purpose robot floats to the water surface by means of buoyancy;
ninthly, converting the water surface working mode into the air working mode
Firstly, take off vertically
The deformation multi-dwelling robot floats on the water surface by means of buoyancy, the wheel posture is adjusted to a vertical flight posture in the air, the blade corner is adjusted to a second-gear blade corner, the wing spread angle is adjusted to a second-gear wing spread angle, and the outer rotor motors in the four wheels are started to enable the blades in the four wheels to generate downward thrust, so that the deformation multi-dwelling robot is vertically lifted off;
②, take off in gliding manner
The deformable multi-dwelling robot floats on the water surface by means of buoyancy, the wheel postures are adjusted to the water surface sliding postures, the blade corners are adjusted to the second-gear blade corners, the wing spread angles are adjusted to the third-gear wing spread angles, the outer rotor motors in the four wheels are started, so that blades in the left front wheel and the right front wheel generate downward oblique thrust, blades in the left rear wheel and the right rear wheel generate backward thrust, the deformable multi-dwelling robot leaves the water surface under the action of the wing lift force, then the wheel postures are adjusted to the air horizontal flying postures, and at the moment, the blades in the four wheels all generate backward thrust;
ten, aerial working mode is changed into ground working mode
First, vertically descend
When the transformable multi-dwelling robot carries out multi-rotor flight, the wing spread angle is adjusted to a second-gear wing spread angle, the outer rotor motors in the left front wheel and the right rear wheel are closed firstly, then the blade rotation angles in the left front wheel and the right rear wheel are adjusted to a first-gear blade rotation angle, meanwhile, the gravity center adjustment of the transformable multi-dwelling robot is completed, then the left front wheel is turned to a horizontal leftward state, the right rear wheel is turned to a horizontal rightward state, then the downward thrust generated by the blades in the right front wheel and the left rear wheel is gradually reduced, the transformable multi-dwelling robot slowly falls down until the left front wheel and the right rear wheel contact the ground, then the outer rotor motors in the right front wheel and the left rear wheel are closed, then the blade rotation angles in the right front wheel and the left rear wheel are adjusted to a first-gear blade rotation angle, then the right front wheel is turned to a horizontal rightward state, and the left rear wheel is turned to a horizontal leftward state, finally, adjusting the wing spread angle to a first-gear wing spread angle to change the posture of the deformable multi-purpose robot into a ground driving posture, then electrifying all electromagnetic sleeves in the four wheels, starting outer rotor motors in the four wheels to drive the four wheels to rotate, and finally driving the deformable multi-purpose robot to drive the ground;
② glide and descend
When the deformation multi-purpose robot carries out fixed-wing flight, the outer rotor motors in the four wheels are firstly closed, then the blade rotation angles in the four wheels are adjusted to the first-gear blade rotation angle, meanwhile, the gravity center adjustment of the deformation multi-purpose robot is completed, then the wheel postures are adjusted to the ground driving postures until the deformation multi-purpose robot glides through the wings to land on the ground, after all the four wheels contact the ground, the wing spread angles are adjusted to the first-gear wing spread angles, all the electromagnetic sleeves in the four wheels are electrified, then the outer rotor motors in the four wheels are started to drive the four wheels to rotate, and finally the deformation multi-purpose robot drives on the ground.
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| US11772440B2 (en) * | 2018-06-04 | 2023-10-03 | Ali Salem | Multi-purpose wheels for use in multi-purpose vehicles |
| CN111645860B (en) * | 2020-06-18 | 2023-09-05 | 航大汉来（天津）航空技术有限公司 | Air-ground amphibious unmanned aerial vehicle with three-axis tilting rotor wings and folding wings |
| CN112622547B (en) * | 2020-12-24 | 2023-02-24 | 中国直升机设计研究所 | Rotor wheel and hovercar |
| CN112923790A (en) * | 2021-01-19 | 2021-06-08 | 安徽芯感微电子科技有限公司 | Intelligent mobile target shooting electromagnetic device based on computer vision and control method |
| CN114019993B (en) * | 2021-10-26 | 2023-09-12 | 江汉大学 | Control method of portable multi-terrain unmanned aerial vehicle |
| CN114013649A (en) * | 2021-11-10 | 2022-02-08 | 沈阳航空航天大学 | Triphibian cross-medium transverse tilting dual-rotor aircraft |
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