Studies On Movement Control Of Separable Air-land Exploration Robot

With the rapid development of the Internet,artificial intelligence and other advanced technologies,the reconnaissance robot has been widely used in modern military war,fire fighting and disaster relief.At present,the reconnaissance robot system in use and under study at home and abroad consists of two types,namely air reconnaissance robot system and land reconnaissance robot system.The two systems both have obvious advantages.This paper introduces a separable stereo reconnaissance robot that can move in air and on land to carry out three-dimensional reconnaissance.This system is a useful complement to the existing reconnaissance robot system.First of all,the author designed a deformable crawler robot and a four rotor UAV combining the physical structure of the magnetic lock pull and Multi-DOF robot grasping to realize rapid separation and to join the two parts together as a rigid body.The author also designed a flight control system and ground moving control system with MQTT,Message Queuing Telemetry Transport,as a remote protocol to control robots’attitude.Secondly,the author adopted the Newton-Euler method to construct a robot attitude estimation model and describe three flight attitude angle including the roll,pitch and yaw angles.Base on this model,the author developed an equation of state and observation equations.The Kalman Filter algorithms including EKF(Extended Kalman Filter)and UKF(Unscented Kalman Filter)were used for attitude estimation while Matlab simulation was used to test attitude estimation accuracy and real-time performance of UKF and EKF.The simulation results show that UKF with higher estimation accuracy and better real-time performance than EKF was finally applied in the flight control system to estimate attitude angle and get the optimum estimation.Finally,the reconnaissance robot prototype was made to achieve high-altitude flight,ground movement,climbing,voice control,voice and video transmission,smart dock and recovery of the four rotor UAV and the crawler robot.The results of testing the performance of the prototype in field show that the reconnaissance robot,featuring good ability to adapt to the terrain reconnaissance,good mobility,long communication distance and long time of integrated reconnaissance operations,overcomes the limitation of terrain faced by the traditional reconnaissance robot system,integrates three-dimensional reconnaissance and improves the efficiency of unmanned reconnaissance.