CN110281718A - Air-ground amphibious bio-robot and control method - Google Patents

Abstract

The invention discloses a ground-air amphibious bionic robot, which is provided with a depth camera swing mechanism, a rotor flight movement mechanism, and an imitation foot land movement mechanism; The machine is connected with a swing arm, and a depth camera sensor is arranged on the swing arm; the rotor flight movement mechanism is provided with a rotor frame, and six sets of arm shafts are arranged in the rotor frame, and brushless DC motors are arranged on the arm shafts, and the brushless DC The motors are equipped with rotor units; the imitation foot land movement mechanism is provided with an underframe, and a coordination controller and a land motion controller are installed in the underframe, and a flight controller is arranged above the underframe; the robot of the present invention has land crawling motion , flight movement, and visual reconnaissance functions, and has the functional characteristics of visual reconnaissance and land-air integrated operations, which improves the robot's ability to adapt to various complex terrains, and at the same time ensures the stability of the robot.

Description

Land-air amphibious bionic robot and control method

technical field

The invention relates to the technical field of robots, in particular to a land-air amphibious bionic robot and a control method.

Background technique

With the development of science and technology and society, people have accelerated the exploration of areas that could not be touched before, such as caves, deserts, polar regions, seabeds, etc., and even outer space environments. But these uncharted territories are fraught with danger, and if the explorer is not well prepared or careless, there will be a huge price to pay. Even so, often these places may contain a lot of resources, driving people to explore. Today, with the rapid development of science and technology, many explorers use robots to explore, so that robots can replace human activities and reduce personal dangers. At present, there are mainly two types of robot designs that are relatively mature: wheeled robots and crawler robots. Wheeled robots, such as JD. There is a lot of room for improvement in terms of terrain; crawler robots, such as EOD robots, have been used in some special environments (such as EOD robots).

Although there are many legged, wheeled, and rotary-wing robots that have been continuously developed and applied in fields such as land and air, these robots still have shortcomings such as poor environmental adaptability for multi-field operations. In response to this deficiency, experts and scholars at home and abroad often use the combination of wheeled or crawler robots and rotor-type robots to design land-air amphibious robots, so that the robots have the ability to operate in multiple fields and adapt to multi-field environmental operations. Although the wheeled robot has the characteristics of simple structure, fast speed and stability when driving on relatively flat terrain, the energy consumption of the wheels will be greatly increased on soft ground or severely rough terrain, and its function will be seriously lost. Movement efficiency is greatly reduced. Although the crawler robot has improved terrain adaptability compared with the wheeled robot, it also has low efficiency, fast track wear, poor maneuverability on uneven ground, and severe fuselage shaking when driving.

Contents of the invention

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a ground-air amphibious bionic robot and a control method.

Technical solution: In order to achieve the above purpose, the present invention provides a land-air amphibious bionic robot, which is provided with a depth camera swing mechanism, a rotor flight movement mechanism, and an imitation foot land movement mechanism sequentially from top to bottom;

The swing mechanism of the depth camera is provided with a swing steering gear, and the swing steering gear is connected with a swing arm, and the swing arm is provided with a depth camera sensor; the swing steering gear drives the swing arm to rotate to realize the swing control of the depth camera sensor ;

The rotor flight movement mechanism is provided with six sets of arm shafts, and the left and right sides of the imitation foot land movement mechanism are respectively provided with three sets of legs.

As a further improvement, the depth camera swing mechanism is provided with two left and right swing steering gears, the two swing steering gears are respectively connected to the lower ends of the two swing arms, and the upper ends of the two swing arms are connected to the depth camera sensor; the swing steering gear is fixed on the rotor flight movement mechanism. above.

As a further improvement, the swing arm is provided with a bending part and a vertical part, the bending part is provided with a turning hole, and the inner side of the turning hole is provided with a cross-shaped fastening hole, and the turning shaft of the swing steering gear is connected to the folding part. The cross-shaped fastening hole of the bending part is fixedly connected; the outer side of the swing arm is provided with a rotating hinge seat, and the rotating hinge seat is movably connected with the rotating hole of the bending part; the upper end of the vertical part is connected to the depth camera sensor.

As a further improvement, the imitation foot land movement mechanism is provided with an underframe, and the front end of the underframe is provided with an ultrasonic sensor; the left and right sides of the underframe are respectively connected with three sets of legs;

A flight controller is arranged above the underframe; a coordination controller and a land motion controller are installed inside the underframe.

As a further improvement, the rotor flight movement mechanism is provided with a rotor frame, and six sets of arm shafts are arranged in the rotor frame, brushless DC motors are arranged on the arm shafts, and brushless DC motors are provided on the brushless DC motors. with rotor unit;

The legs are equipped with three rotating steering gears, and each leg has three degrees of freedom; six groups of legs, the left front and rear legs and the right middle leg form a triangular gait group I, the right side The front and rear legs and the left middle leg form triangle gait group II.

As a further improvement, the six sets of arm shafts in the rotor flight motion mechanism are distributed in an equidistant circular array with an interval of 60°, and are distributed alternately with the legs of the imitation foot land motion mechanism to prevent the legs from moving. collided with the axis of the arm;

The end of the arm shaft is provided with a clamp to fix the arm shaft; the end of the arm shaft is fixed to the brushless DC motor by a cotter pin structure.

As a further improvement, the center of the depth camera swing mechanism is located on the same vertical line as the center of the rotor flight movement mechanism and the imitation foot land movement mechanism.

A control method for implementing the above-mentioned land-air amphibious bionic robot, wherein the coordination controller, the land motion controller, and the flight controller perform hierarchical coordinated control on the robot, specifically comprising the following steps:

(1) Land motion: the land motion controller is connected to the steering gear on all legs, and the driving of the six groups of legs through the steering gear is combined with the triangle gait control algorithm to control the gait motion;

(2) Computational control: When the depth camera sensor is working, it can obtain the RGB image, depth image and point cloud image of the robot's current viewing angle. The coordination controller combines the point cloud image data collected by the depth camera sensor with the iterative closest point algorithm to calculate The position and posture of the robot, and then realize the real-time map construction of the robot, combined with the A-Star algorithm, solve the shortest path in the static road network, so as to realize the path optimization and autonomous navigation function of the robot;

(3) Flight movement: the flight controller controls the rotation of the brushless DC motor, and uses the PID control principle to combine the deviation between the attitude obtained by the sensor and the expected value to correct and adjust the response of the body system, and realize the real-time hovering and rotation of the robot , sideways flight and inverted flight;

(4) Coordinated control: the coordinated controller centrally controls the land motion controller and the flight controller to switch between flight and land motion functions;

The above steps are in no particular order.

As a further improvement, the ultrasonic sensor and the depth camera sensor process ultrasonic and depth image information through sensor information fusion, and obtain a value similar to the two as a measurement value.

As a further improvement, the recognition function of the depth camera sensor can realize the recognition of obstacles while sensing the distance of obstacles.

The beneficial effects of the present invention are:

1. The present invention sets up a land motion mechanism, a rotor flight motion mechanism, and a depth camera swing mechanism. These three mechanisms operate in coordination to realize the land crawling motion, flight motion, visual reconnaissance, and land-air integration of the land-air amphibious bionic robot. function of the job.

2. The present invention supports and swings the gait movement on the ground through the six legs of the imitation foot land movement mechanism. Reduce the impact of terrain fluctuations on the overall stability of the robot, while maintaining the stability of the main body of the robot, ensuring the stability of the robot, and greatly improving the ability of the robot to adapt to various complex terrains.

3. The present invention uses a depth camera sensor and a flight controller combined with the PID control principle to detect changes in the attitude angle of the aircraft during flight, and realizes real-time hovering, rotation, side flight and inverted flight, and has good stability, responsiveness and Robustness, it can calmly deal with various flight reconnaissance operations.

4. The present invention combines the ultrasonic sensor and the depth camera sensor with the A-Star pathfinding algorithm of the controller and the sensor information fusion technology, so that the robot can overcome the limitation that the underground space cannot receive signals, and at the same time realize the autonomous navigation of the robot and the real-time construction of maps and obstacle avoidance.

5. The present invention adopts WIFI module and Bluetooth module in the way of control, so that users can operate the robot to carry out a series of activities in a place far away from danger through various control methods, and at the same time, it can also send the real-time situation of the robot back to the computer The upper end allows users to grasp the situation of the robot and the specific conditions of its environment in real time.

Description of drawings

Accompanying drawing 1 is the overall structure schematic diagram 1 of the ground-air amphibious bionic robot of the present embodiment 1;

Accompanying drawing 2 is the overall structure schematic diagram 2 of the land-air amphibious bionic robot of the present embodiment 1;

Accompanying drawing 3 is one of partial structural diagrams of the land-air amphibious bionic robot of the present embodiment 1;

Accompanying drawing 4 is the schematic diagram of enlarged structure of part A in Fig. 3;

Accompanying drawing 5 is the exploded schematic diagram of the partial structure of the land-air amphibious bionic robot of the present embodiment 1;

Accompanying drawing 6 is the second partial structural diagram of the land-air amphibious bionic robot of the present embodiment 1;

Accompanying drawing 7 is the fourth of the local structural diagram of the land-air amphibious bionic robot of the present embodiment 1;

Accompanying drawing 8 is the fifth of the partial structural diagram of the land-air amphibious bionic robot of the present embodiment 1;

Accompanying drawing 9 is the overall structure diagram six of the land-air amphibious bionic robot of the present embodiment 1;

Accompanying drawing 10 is the schematic circuit diagram of the ground-air amphibious bionic robot of the present embodiment 1;

Accompanying drawing 11 is the partial structural diagram 1 of the land-air amphibious bionic robot of the present embodiment 5.

In the figure: 1 Depth camera swing mechanism, 11 Depth camera sensor, 12 Swing steering gear, 13 Rotation hinge seat, 14 Swing arm, 141 Bending part, 142 Rotation hole, 143 Vertical part, 144 Cross-shaped fastening hole, 145 Cross-shaped fasteners, 146 teeth, 2 rotor flight motion mechanisms, 21 rotor frames, 22 arm shafts, 23 brushless DC motors/24 rotor units, 3 imitation foot land motion mechanisms, 31 chassis, 32 legs, 33 coordination controllers, 34 land motion controllers, 35 flight controllers, 36 ultrasonic sensors, 37 turning steering gears, 4 horizontal turning mechanisms.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

Embodiment 1, the land-air amphibious bionic robot as shown in accompanying drawing 1 to accompanying drawing 9, is provided with depth camera swing mechanism 1, rotor flight motion mechanism 2, imitation foot land motion mechanism 3; It has the functions of land crawling movement, flight movement, and visual reconnaissance, and has the functions of visual reconnaissance and integrated land and air operations.

The depth camera swing mechanism 1 is provided with a swing steering gear 12, the swing steering gear 12 is connected to a swing arm 14, and the swing arm 14 is provided with a depth camera sensor 11; the swing steering gear 12 drives the swing arm 14 to rotate Movement to realize the swing control of the depth camera sensor 11;

The rotor flight movement mechanism 2 is provided with six sets of arm shafts 22, and the left and right sides of the imitation foot land movement mechanism 3 are respectively provided with three sets of legs 32.

The depth camera swing mechanism 1 is provided with two left and right swing steering gears 12, the two swing steering gears 12 are respectively connected to the lower ends of two swing arms 14, and the upper ends of the two swing arms 14 are connected to the depth camera sensor 11; the swing steering gear 12 is fixed on the rotor flight Directly above the motion mechanism 2, the depth camera sensor 11 can be a Kinect depth camera.

The swing arm 14 is provided with a bending portion 141 and a vertical portion 143, the bending portion 141 is provided with a turning hole 142, and the inner side of the turning hole is provided with a cross-shaped fastening hole 144, and the swing steering gear 12 rotates The shaft and the cross-shaped fastening hole 144 of the bending part are connected by a cross-shaped locking member 145, and the cross-shaped locking member 145 is connected with the rotating shaft of the swing steering gear 12 through the locking teeth 146. The cross-shaped fastening hole 144 ensures that the swing steering gear 12 and the swing arm 14 is rotated synchronously without offset or dislocation; the swing arm 14 is provided with a rotating hinge seat 13 on the outside, and the rotating hinge seat 13 is flexibly connected with the turning hole of the bending part; the upper end of the vertical part is connected to the depth camera sensor 11. Rotation control is carried out through the fixed steering gear, which drives the rotation of the swing arm 14 to realize the swing control of the depth camera sensor 11 and provide the robot with a wider, flexible and controllable robot viewing angle.

The imitation foot land movement mechanism 3 is provided with a chassis 31, and the front end of the chassis 31 is provided with an ultrasonic sensor 36; the left and right sides of the chassis 31 are respectively connected with three groups of legs 32;

A flight controller 35 is arranged above the underframe 31 ; a coordination controller 33 and a land motion controller 34 are installed in the underframe 31 .

Described rotor flight motion mechanism 2 is provided with rotor frame 21, and described rotor frame 21 is provided with six groups of machine arm shafts 22, and described machine arm shaft 22 is all provided with brushless DC motor 23, and described brushless DC motor 23 is provided with rotor unit 24;

The legs 32 are provided with three rotating steering gears 37, and each leg 32 has three degrees of freedom; six groups of the legs 32, the left front and rear legs 32 and the right middle leg form a triangular gait In group I, the front and rear legs 32 on the right and the middle leg 32 on the left form triangular gait group II.

The six sets of arm shafts 22 in the rotor flight motion mechanism 2 are distributed in equidistant circular arrays, separated by 60°, and interlaced with the legs 32 of the imitation foot land motion mechanism 3, so as to prevent the legs 32 from Collide with the arm shaft 22 during motion;

The shaft end of the arm shaft 21 is provided with a clamp 25 to fix the arm shaft 22; the end of the arm shaft 22 is fixed to the brushless DC motor 23 with a cotter pin structure to avoid the motor falling off caused by vibration during flight.

The centers of the depth camera swing mechanism 1 and the rotor flight movement mechanism 2 and the imitation foot land movement mechanism 3 are located on the same vertical line.

The present embodiment also provides a control method for the land-air amphibious bionic robot, wherein the coordination controller 33, the land motion controller 34, and the flight controller 35 perform hierarchical coordinated control on the robot, specifically including the following steps:

(1) land motion: the land motion controller 34 is connected with the steering gear 37 on all legs 32, and carries out the gait motion control in combination with the triangular gait control algorithm to the driving of the six groups of legs 32 by the steering gear 37; The three legs 32 of the triangular gait group I are used as the supporting phase when performing land sports, and the three legs 32 of the triangular gait group II are used as the swing phase, and the three legs 32 of the triangular gait group I in the supporting phase form a triangular force support , when the triangular gait group II in the swing phase moves forward, the triangular gait group I in the support phase also moves forward by half a step s/2 under the action of the steering gear 37; when the triangular gait group I in the swing phase After the gait group II moves in place, it immediately puts down and touches the ground, and transforms into a stance phase. At the same time, the triangular gait group I, which was previously a stance phase, transforms into a swing phase. When the triangular gait group I also completes the swing movement, the triangular gait The gait group II will also move forward for half a step s/2, and a cycle of motion will move forward for a step s; such a cycle of switching between the support phase and the swing phase realizes the robot Continuous forward movement; the gait movement of supporting and swinging on the ground through six legs can adapt to various unstructured grounds, with multi-gait, flexible obstacle crossing and free movement; each leg has three free degree, the whole body has 18 degrees of freedom in total; the land motion controller 34 can be a microcontroller of STM32F4;

(2) Computational control: When the depth camera sensor 11 is working, the RGB image, depth image and point cloud map of the environment under the current viewing angle of the robot can be obtained, and the coordination controller 33 combines the point cloud map data collected by the depth camera sensor 11 with an iterative closest point algorithm, It can calculate the pose of the robot in this design, and then realize the real-time map construction function of the robot. It can also combine the A-Star algorithm to solve the shortest path in the static road network, thereby realizing the path optimization and autonomous navigation functions of the robot;

(3) Flight movement: the flight controller 35 controls the rotation of the brushless DC motor 23, and uses the PID control principle in combination with the deviation between the attitude acquired by the sensor and the expected value to correct and adjust the response of the body system and realize the real-time hovering of the robot , rotation, lateral flight and inverted flight, improve the flight stability, responsiveness and robustness of the bionic robot; the flight controller 35 can be the flight controller of Pixhawk 4;

(4) Coordinated control: Coordinated controller 33 centrally performs coordinated control of flight and land motion function switching instructions to land motion controller 34 and flight controller 35;

Described coordinating controller 33 is provided with wifi or bluetooth module, realizes that multiple connection modes are controlled, operates this robot remotely by multiple control modes, can simultaneously send the image data of Kinect depth camera to receiving equipment, convenient host computer Open for research and other applications. The coordinating controller 33 can be a Raspberry Pi 3 controller.

The ultrasonic sensor 36 and the depth camera sensor 11 process the ultrasonic and depth image information through sensor information fusion technology, and obtain a value similar to the two as a measurement value, and then combine it with the recognition function of the depth camera sensor 11 to sense the obstacle distance and also Obstacles can be identified.

As shown in Fig. 10, the sensor of the present invention includes a depth camera sensor and an ultrasonic sensor, the controller includes a flight controller, a land motion controller, and a coordination controller, the actuator includes a rotor flight motion mechanism and a land motion mechanism, and also includes a PC host computer and Power supply; the sensor sends depth image information, RGB images, and point cloud images to the PC host computer, and the PC host computer combines algorithm operations to send command signals to the controller, and the controller controls the rotation of the actuator through the steering gear.

The invention mainly designs a new robot structure, which can greatly improve the adaptability of the robot to the terrain and keep users away from danger. Wheeled and tracked robots, these two common robots on the market have high requirements for the terrain they use due to their structure. However, for some places where humans seldom explore and are dangerous, the terrain is often very complicated. , the robots of the above two structures are just powerless in the face of these complex terrains, but the risk of personnel exploring is too high.

The appearance and structure of the land motion mechanism of the present invention is modeled on the arthropods in the biological world, and can maintain multi-point contact with the ground during the traveling process, so it can reduce the impact of terrain fluctuations on the overall stability of the robot, while maintaining the stability of the main body of the robot, ensuring the stability of the robot. The stability of the robot has also greatly improved the ability of the robot to adapt to various complex terrains.

In addition, the present invention adopts a WIFI module and a Bluetooth module in the control mode, so that the user can operate the robot to perform a series of activities in a place far away from danger through various control modes, and at the same time, the real-time situation of the robot can be transmitted back to the computer The terminal allows users to grasp the situation of the robot and the specific conditions of its environment in real time.

The depth camera sensor and the flight controller are combined with the PID control principle to detect the attitude angle change of the aircraft during flight, and realize real-time hovering, rotation, side flight and inverted flight, with good stability, responsiveness and robustness. Can calmly deal with various flight reconnaissance operations.

Embodiment 2, this embodiment is basically the same as Embodiment 1, and its difference is:

Step (3) also includes the following steps: (31) the land-air amphibious bionic robot drives the brushless DC motor 23 to rotate under the control of the flight controller 35, and when the land-air amphibious bionic robot is in a suspended state, the land motion controller 34 controls six The steering gear 37 action on each leg 32 makes the leg 32 sag and moves closer to the vertical line of the land-air amphibious bionic robot. After the lower end of the leg 32 draws closer, it forms a state of imitating plumb weight, imitating the center of gravity of the foot land movement mechanism 3 Concentrating directly below the rotor flight movement mechanism 2 is beneficial to the control of the center of gravity of the land-air amphibious bionic robot in the air. Through the change of physical form, it can achieve more stable hovering, rotation, side flight and inverted flight, and is not easily affected by wind and airflow. And so on.

Embodiment 3, this embodiment is basically the same as Embodiment 1, its difference is:

The two swing steering gears 12 are independently controlled, and the connection between the depth camera sensor 11 and the swing arm 14 is a ball joint connection.

When the two swing steering gears 12 rotate in the same direction, the depth camera sensor 11 rotates forward or backward around the axis of the swing steering gear 12 under the action of the two swing arms 14;

When the two swing steering gears 12 rotate in opposite directions, the depth camera sensor 11 twists left or right under the action of the two swing arms 14 .

Embodiment 4, this embodiment is basically the same as Embodiment 1, its difference is:

The middle part of the imitation foot land movement mechanism 3 is provided with a circular turning track, and the ultrasonic sensor 36 is arranged on the circular turning track, which can rotate 360 degrees around the axis of the imitation foot land movement mechanism 3 .

When the land-air amphibious bionic robot is traveling on land, when an obstacle appears on the side of the land-air amphibious bionic robot, the circular rotation track can drive the ultrasonic sensor 36 to rotate to a certain angle to detect the obstacle without adjusting the land-air amphibious bionic robot. The detection of side obstacles can be realized by the azimuth of the amphibious bionic robot.

Embodiment 5, referring to Fig. 11, this embodiment is basically the same as Embodiment 1, the difference is:

A horizontal rotation mechanism 4 is provided between the rotor flight movement mechanism 2 and the depth camera swing mechanism 1 . The depth camera swing mechanism 1 is arranged on the horizontal rotation mechanism 4 and can follow the rotation of the horizontal rotation mechanism 4 to perform 360-degree rotation.

When the land-air amphibious bionic robot is traveling or flying on land, it can drive the depth camera swing mechanism 1 to rotate horizontally through the horizontal rotation mechanism, and can realize 360-degree detection without adjusting the orientation of the land-air amphibious bionic robot, improving mobility and flexibility sex.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.

Claims (10)

1. a kind of air-ground amphibious bio-robot, it is characterised in that: be successively arranged from top to bottom depth camera swing mechanism (1), Rotor flying movement mechanism (2), Fang Zu Land Movement mechanism (3)；

The depth camera swing mechanism (1) is equipped with swing steering engine (12), and the swing steering engine (12) is connected to swing arm (14), The swing arm (14) is equipped with depth camera sensor (11)；Swing steering engine (12) driving swing arm (14) the rotation fortune It is dynamic, realize depth camera sensor (11) weave control；

The rotor flying movement mechanism (2) is equipped with six groups of horn axis (22), Fang Zu Land Movement mechanism (3) left and right sides It is respectively equipped with three groups of legs (32).

2. air-ground amphibious bio-robot according to claim 1, it is characterised in that: the depth camera swing mechanism (1) Equipped with left and right two swing steering engines (12), two swing steering engines (12) are separately connected two swing arms (14) lower end, on two swing arms (14) End connection depth camera sensor (11)；The swing steering engine (12) is fixed on right above rotor flying movement mechanism (2).

3. air-ground amphibious bio-robot according to claim 2, it is characterised in that: the swing arm is equipped with bending part and erects Straight portion, the bending part are equipped with rotation hole, and cross fastener hole, swing steering engine (12) rotation are equipped on the inside of the rotation hole Axis is fixedly connected with bending part cross fastener hole；Rotation free bearing, the rotation free bearing and bending are equipped on the outside of the swing arm Portion's rotation hole is flexibly connected；The vertical portion upper end connects the depth camera sensor (11).

4. air-ground amphibious bio-robot according to claim 1, it is characterised in that: Fang Zu Land Movement mechanism (3) Equipped with chassis (31), chassis (31) front end is equipped with ultrasonic sensor (36)；Connect respectively at left and right sides of the chassis (31) Connect three groups of legs (32)；

Flight controller (35) are equipped with above the chassis (31)；Tuning controller (33) and land are installed in the chassis (31) Ground motion controller (34).

5. air-ground amphibious bio-robot according to claim 1, it is characterised in that: the rotor flying movement mechanism (2) Equipped with rotor wings frame (21), it is equipped with six groups of horn axis (22) in the rotor wings frame (21), is equipped on the horn axis (22) brushless Direct current generator (23), the brshless DC motor (23) are equipped with rotor unit (24)；

The leg (32) is all provided with there are three steering engine (37) are rotated, and every leg (32) all has three degree of freedom；Described in six groups Leg (32), left side front and back leg (32) and right side middle leg portion constitute triped gait group I, the front and back leg (32) and a left side on right side Side middle leg portion (32) constitutes triped gait group II.

6. air-ground amphibious bio-robot according to claim 1, it is characterised in that: the rotor flying movement mechanism (2) In six groups of horn axis (22) between use equidistant circumference array distribution, be mutually divided into 60 °, and with Fang Zu Land Movement mechanism (3) Leg (32) be interspersed, to prevent leg (32) from colliding during exercise with horn axis (22)；

Horn axis (21) shaft end is equipped with fixture (25) and horn axis (22) is fixed；Horn axis (22) end is with opening Brshless DC motor (23) is fixed in mouth latch structure part.

7. air-ground amphibious bio-robot according to claim 1, it is characterised in that: the depth camera swing mechanism (1) It is located in same vertical line with the center of rotor flying movement mechanism (2), Fang Zu Land Movement mechanism (3).

8. a kind of control method for implementing air-ground amphibious bio-robot described in one of claim 1-7, it is characterised in that: coordinate Controller (33) and Land Movement controller (34), flight controller (35) carry out gradational coordination control to robot, specific to wrap Include following steps:

(1) Land Movement: Land Movement controller (34) is connected with the steering engine (37) on all legs (32), and passes through steering engine (37) gait motion control is carried out to the driving combination triped gait control algolithm of six groups of legs (32)；

(2) operation control: depth camera sensor (11) work when can get robot current visual angle under environment RGB image, Depth image and point cloud chart, tuning controller (33) are combined by the point cloud chart data acquired to depth camera sensor (11) and are changed For closest approach algorithm, the pose of robot is calculated, and then realizes the instant map structuring of robot, is calculated in conjunction with A-Star Method solves shortest path in static road network, to realize path optimization and the independent navigation function of robot；

(3) sporting flying: flight controller (35) carries out rotation control to brshless DC motor (23), and former using PID control The deviation between posture and desired value that reason combines sensor to obtain realizes robot to correct the response for adjusting airframe systems Hovering in real time, rotation, side flies and inverted flight；

(4) coordinated control: tuning controller (33) concentration carries out Land Movement controller (34) with flight controller (35) winged Capable and Land Movement function switch instruction controls；

Above step in no particular order sequence.

9. the control method of air-ground amphibious bio-robot according to claim 8, it is characterised in that: the supersonic sensing Device (36) and depth camera sensor (11) obtain the two by sensor data fusion processing ultrasonic wave and deep image information Similar value is used as measured value.

10. the control method of air-ground amphibious bio-robot according to claim 9, it is characterised in that；Depth camera sensing Device (11) identification function, disturbance of perception object apart from while, be also able to achieve cognitive disorders object.