Claims:CLAIMS:
I / We Claim:
1. A centicopter robot, which is characterized in that it comprises:
plurality of driving units equipped with copters for lifting it off from the ground surface;
cable connected in series to the driving unit for flexible movement of the robot;
a pair of legs on either side of the driving unit, and
a control system for controlling movement of the centicopter robot in air and or ground.
2. The centicopter robot as claimed in claim 1, wherein the copter includes copter duct, motor and beams connected with the driving unit through joint.
3. The centicopter robot as claimed in claim 1, wherein the driving unit includes a control systems; air flight controller and electronic speed controller, motor, propeller, servo, brushless motor, sensors and a battery.
4. The centicopter robot as claimed in claim 1, wherein the leg arrangement is designed to offer pushing motion.
5. The centicopter robot as claimed in claim 1, wherein the copter duct is facilitated to slide into the driving unit.
6. The centicopter robot as claimed in claim 1, wherein the centicopter is commanded through remote transmitter, which sends signal to the receiver placed in the head element of the driving unit.
7. The centicopter robot as claimed in claim 1, wherein the signals are transmitted to the control systems to determine the movement through air flight controller and electronic speed control. , Description:DESCRIPTION:
Field of the invention:
[0001] The present disclosure generally relates to the technical field of robot that mimics centipede and in specific relates to a centicopter robot that can fly as well as move fast in the rough terrain.
Background of the invention:
[0002] First, a suitable body type has to be selected. In many cases, biomimetic approaches can be useful on this stage as well. For example, humanoid-like robots, snake-like robots, or finfish-like robots. The 20th-century robots are an attempt to create hybrids between wheeled robots and centipedes, in order to get the” best of both worlds”.

[0003] The driving method of the legs (synchronized but out-of-phase; flexible) presents another consideration, independently controlled legs produce special gaits that propel it over rough terrain like stairs, stone ridge, etc. One of the gaits provides an opportunity to jump. The leg shape provides smooth movements. However, this robot also has several drawbacks. First of all, it is high energy consumption since it contains six motors, In most of the cases centipede robots fail to complete their missions because of any obstacle in its path. Also, this robot has some difficulties related to its controllability.

[0004] The major modifications that were done to this kind of robot are pushing its limits to the sky. We provide a vertical lift to the centipede robot which helps to lift off from the ground and travel in the air. Biomimetic centipede robots well-suits to several applications, including search-and-rescue around demolished rubble, logistics in rocky and hazardous areas.

[0005] This lifting mechanism is folded into the body of the robot which makes it compact and easy to move in complex environments, also These design parameters influence multiple aspects of the robot performance: weight, energy consumption, volume, and convex hull, as well as the ability to pass through different types of rough terrains.

[0006] In light of the aforementioned discussion, there exists a need for a certain system with novel methodologies that would overcome the above-mentioned disadvantages.
Objectives of the invention:
[0007] The primary objective of the invention is to provide a robot with a lifting mechanism to move quickly in rough terrain and overcome obstacles that are high as compared to its size.
Summary of the invention:
[0008] The present disclosure proposes a centicopter robot. The following presents a simplified summary in order to provide a basic understanding of some aspects of the claimed subject matter. This summary is not an extensive overview. It is not intended to identify key/critical elements or to delineate the scope of the claimed subject matter. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

[0009] In order to overcome the above deficiencies of the prior art, the present disclosure is to solve the technical problem to provide a centicopter robot that can fly as well as move fast in the rough terrain.

[00010] According to an aspect, the invention provides a centicopter robot, which is characterized in that it comprises plurality of driving units equipped with copters for lifting it off from the ground surface, cable connected in series to the driving unit for flexible movement of the robot, a pair of legs on either side of the driving unit, and a control system for controlling the movement of the centicopter robot in the air and or ground.

[00011] Centicopter is a hybrid robot design between the hexacopter and the centipede robot design, centipedes robots are inspired from the centipedes which is a type of insect with great abilities like crawling and speed even at uneven terrains, when comes to the copters there are huge varieties of configurations depending on the requirement in the lift. By the combinations of both, the demerits of the robot in both aspects are solved. The power consumption is high in the centipede robots because of the motor requirements to overcome the problem in covering the distance.

[00012] Legs attached to the centipede robot for the forward moment on land are powered with the brushed motors that are capable of rotating the leg continuously with some interval. The motion of the legs is programmed in a wavy action to push the robot forward. The robot has eight sections which are flexibly connected through a cable to move in the ruff lands. There are two legs on either side of each section of the robot.

[00013] The sections of the robot containing the copter fan are connected with the cables that last from head to tail of the robot these cables are responsible for the moment in sideward direction and also helps the robot steady when it is flying. These cables are controlled by the servo motors that are arranged in the head of the robot. These cables are divided into three primary cables that hold the elements of the copter and the other two are for the control. The left cable is responsible for the left moment and right cable responsible for the right moment.

[00014] The copter attached to each section of centicopter robot is released when the robot needs to fly on command through the transmitter. The copter helps the robot to lift off from the ground. There are six copters attached to the elements leaving the head and tail. These brushless motors are driven by the battery and flight controller.

[00015] The whole copter system is released by the help of the servo system attaches in each element of the robot, these copters when released are arranged like a hexacopter. As the whole mechanism consists of only simple electronics only a few amounts of energy is consumed by them so there is no requirement of additional power source to operate the legs; by this design, we can expect the results that are given by a complex design so this can be a simple useful design.

[00016] High-definition cameras that can be arranged on the head will help us to get a better vision on the operating mission and to control the robot while the copter is away from controlling position. Sensors like ultrasonic are helpful while the robot is moving on land.

[00017] Further, objects and advantages of the present invention will be apparent from a study of the following portion of the specification, the claims, and the attached drawings.
Detailed description of drawings:
[00018] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate an embodiment of the invention, and, together with the description, explain the principles of the invention.

[00019] FIG. 1 illustrates the top right perspective view of the centicopter which shows the essential parts of the design like legs, chamber for copter arrangement to the unit in accordance to an exemplary embodiment of the invention.

[00020] FIG. 2 illustrates the top view of the centicopter through with the arrangements of propellers arrangement is visible in accordance to an exemplary embodiment of the invention.

[00021] FIG. 3 illustrates the schematic top right perspective view of the centicopter through which the arrangement of the copter to each element is seen in accordance to an exemplary embodiment of the invention.

[00022] FIG. 4 illustrates the circuit diagram of the copter in accordance to an exemplary embodiment of the invention.

[00023] FIG. 5 illustrates the part of the robot which helps in knowing the detailed structure and electronics with the copter in accordance to an exemplary embodiment of the invention.

[00024] FIG. 6 illustrates the part of the robot which helps in knowing the detailed structure and electronics by eliminating the copter setup and their connections with the electronics devices like servo motors in accordance to an exemplary embodiment of the invention.

[00025] FIG. 7 illustrates the schematic side view of the centicopter to view the detailed arrangements of the legs in accordance to an exemplary embodiment of the invention.

[00026] FIG. 8 illustrates the front view of the centicopter section in accordance to an exemplary embodiment of the invention.

[00027] FIG. 9 illustrates the perspective view of the ducted fan arrangements to centicopter and also explains the electronics in accordance to an exemplary embodiment of the invention.
Detailed invention disclosure:
[00028] Various embodiments of the present invention will be described in reference to the accompanying drawings. Wherever possible, same or similar reference numerals are used in the drawings and the description to refer to the same or like parts or steps.

[00029] The present disclosure has been made with a view towards solving the problem with the prior art described above, and it is an object of the present invention to provide a centicopter robot that can fly as well as move fast in the rough terrain.

[00030] According to an exemplary embodiment of the invention, FIG. 1 represents the perspective view from the top and front. In this figure it shows the complete image of the centicopter robot, here in the centicopter robot there are eight driving units 016 for the flexible robot and it moves with the help of the cables 011 and 007, these separated driving units are equipped with the copter 003 which is responsible for the whole centicopter robot to lift off from the ground, the copter arranged are attached brushless motors to the motor mounts 004 which is attached to the duct with the beams 009 which helps protect the motor and internal electronics when the robot is working on the ground also to accommodate more thrust to the copter with the duct nozzle design.

[00031] The whole setup of the motor is attached to the driving unit through joint 008 and is dynamic through the servo motor inside each section of the centicopter, also robot is equipped with the pair of legs 012, on either side of the driving unit, which has further parts like a ball joint 005 and joint for moment 002 which walks on the tip of the legs 013, the whole setup of the copter is sided into the chamber 015 which also consists of the sensors 014 which assists the robot for the safety mission.

[00032] According to another exemplary embodiment of the invention, FIG. 2 refers to the top view 001A of the centicopter which shows the arrangements with the copter setup 003A in the robot, there are six copters arranged in the robot as configuring hexacopter for the stability aspects, `here we can watch the arrangement of the legs 005A, there are eight driving units in the centicopter including head 017 and tail 016A attached to the main body containing the electronics essential for safe flight, these two driving units are rested with the fans for storage purpose, these are attached by the cables 011A, 007A.

[00033] All the arrangements for fixing the motors 004A and 009A, all these arrangements are attached to the main body at the joint 008A, is viewed in this view the weight management and the design optimization when comes to the stability because of the multi-purpose operation of the centicopter, this copter has a very different arrangement in legs 005A inspired from the centipede, these legs march as of programmed to have a pushing motion which helps in forward motion, the tip of the legs attaches to the copter 013A is provided with grip to perfect motion.

[00034] According to another exemplary embodiment of the invention, FIG. 3 refers to the specific design of the driving unit 003A of the centicopter robot. The copter duct 018 is facilitated to slide into the chamber 010A to secure the motor. The copter setup consists of motor mount 004B where the motor is attached to the copter and the duct is structurally attached with the beams 009B which gives the strength also the duct is in a curved manner to accelerate the air through the duct. This setup reduces the weight of the centicopter robot and is helpful in enhancing its performance.

[00035] The whole setup is retractable with the help of the servo motor inside the chamber which is powered with a battery. The joint 008B is fixed to the servo arm results in the duct moment inside and out, the lower part of the body is dedicated for the legs arrangements 012A these legs are attached to the body at joint 005A, all these elements are attached by the cables attached at the position 007C, 011B on one side and 007B, 011C on their side, where these cables are responsible for the moment of the copter sideward. All the other elements are arranged in a similar manner alternate ones are arranged in opposite direction to obtain the Hexa- configuration 001A.

[00036] According to another exemplary embodiment of the invention, FIG. 4 refers to the schematic diagram of the circuit used in the centicopter, initially, the whole operation is commanded through the transmitter via remote 031, the commands are received through the receiver in the robot placed in the head element of the centicopter. The signals then transmitted to the control systems, since there are two different variants need to be fulfilled there are different control systems arranged in the robot, to operate in the air flight controller 025 and electronic speed control 023 is used to control the motor RPM as per the situation, these both combined run the motor 021 intern rotates the propeller 022 to generate thrust as requires also the servo 024 is powered from the flight controller.

[00037] Coming to legs they are controlled by the processing devise varying from the flight controller, the power from the processer is distributed to the pair of brushless motor 026 and 027 on both sides of the body, the ultrasonic sensor provides the required data to the processing devices, these processors are powered through the electronic speed controller through battery 020 which is provided with charger plug 019. Further modifications will make the copter autonomous by adding additional sensors.

[00038] According to another exemplary embodiment of the invention, FIG. 5 refers to the detailed design of the element of the centicopter with duct fan inside the chamber 042, the copter is kept inside the enclosure with two plated attached through the poles 035 on four sides, the upper plate 033 is arranged to cover the copter the lower part is the base for the electronics inside it 045 the legs arrangement is placed to the lower part of the element, the legs are fragmented into few parts to assist with the moments 038, 039 they are joined to the main body with ball bearings 040, the groove shape provide to the body provides support to the legs and also helps reduce the weight of the copter since weight is the primary factor for the flying objects, the retracting mechanism is assisted with the servo 036 placed in the corner in the lower part, these elements are primarily joined through the joint 043 with a hole helps 044 to plug in the other element. These two parts of the element are connected through the screws 032.

[00039] According to another exemplary embodiment of the invention, FIG. 6 refers to the detailed design of the element of the centicopter without duct fan inside the chamber 045A, since copter duct is removed the internal parts of the element of centipede robot are visible the brushed motors 050 on the left side 048 on the right side that are driving the legs are visible with the mechanism that alters the direction of the rotation by Appling gears 047. copter is kept inside the enclosure with two plated attached through the poles 035A on four sides.

[00040] The upper plate 033A is arranged to cover the copter the lower part is the base for the electronics inside it 045A the legs arrangement is placed to the lower part of the element, the legs are fragmented into few parts to assist with the moments 038A, 039A they are joined to the main body with ball bearings 040A, the groove shape provides to the body provides support to the legs and also helps reduce the weight of the copter since weight is the primary factor for the flying objects, the retracting mechanism is assisted with the servo 036A placed in the corner in the lower part, these elements are primarily joined through the joint 043 with a hole helps 044A to plug in the other element. These two parts of the elements are connected to the servo 036A through the servo horn 046.

[00041] According to another exemplary embodiment of the invention, FIG. 7 refers to the side view of the element which shows the legs attached to the body the legs are separated into various parts primary parts attached to the main body and secondary parts are attached to the primary parts and they touches the ground, the initial rotatory moment from the motor is turned into the required direction using the gears and the shaft from the motor is attached to the rotating disk 063 which rotates and an arm 056 and 057 is attached to it at some distance from its centre which can be freely rotated because of the bearing 066 they are attached to arm 058 that is having two joints 059 this arm is supported through he attachment 062 to the main body 055 which is a reference and centre, the grip 060 below the leg is attached to the rod 061. On top of the leg mechanism copter 065 is arranged and it covered by the top layer 051 both are attached by the poles 052as shorn through screws, also shown the attachments to the other elements with a joint 054, 053 one side and other there is another joint 064.these are attached to the lower part of the body 055.

[00042] According to another exemplary embodiment of the invention, FIG. 8 refers to leg arrangement from front view is shown where the lower arm 071, 072 are two attached to the primary arm 070, which further attached to the pair of the supports 073, here support 078 is shown in front view, also the servo 077 placement is visible in this view to rotate the copter setup 069, with the top part 068, with joining 075, 076 which supports other elements to attach.

[00043] The ducted fan used in the design is to elevate the lift generated by the small propeller 082 which is connected to the motor 084 through the nut 080, the motor is rested on the motor mount 085, the motor mount is further attached to the duct 079 with a bridge-like structure 081.

[00044] It will readily be apparent that numerous modifications and alterations can be made to the processes described in the foregoing examples without departing from the principles underlying the invention, and all such modifications and alterations are intended to be embraced by this application.