空地一体化两栖机器人的设计与实现

Design and implementation of air-ground amphibious robot

叙述了空地一体化两栖机器人的作用和意义,列举了目前国内外已有空地一体化机器人,并分析了其优缺点.给出了以ARM STM32为主控器的旋翼式空地一体化两栖机器人的详细设计方案.首先给出了机器人的设计结构.然后根据空中飞行和地面移动的控制原理给出了机器人软硬件系统设计.最后通过所规划的实验场景,完成了基于视觉辅助的空地一体化两栖机器人对远程目标点的寻找任务.通过该实验验证了所设计机器人的可行性.

The function and significance of air-ground amphibious robots were described.The advan-tages and disadvantages among some air-ground robots which existing at home and abroad were ana-lyzed.The detailed design scheme of the rotary wing type air-ground amphibious robot which utilizes ARM (advanced RISC (reduced instruction set computer)machines)STM32 as the host controller was presented.In the specific design scheme,the structure of the robot was presented firstly.And then,the control principle of its flight and ground movement was discussed.According to the princi-ples mentioned,the hardware and software designs of robot system were provided.Finally,on the ba-sis of the planned experimental scene,the searching task of remote target for air-ground amphibious robot was completed based on visual aids.The feasibility and value of the robot were verified via the experiment.