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Wheel-propeller-leg integrated amphibious robot and control method thereof

A control method and robot technology, applied in the field of mobile robots, can solve problems such as incompatibility and poor obstacle-surmounting ability of wheeled structures, and achieve the effects of good structural stability, strong environmental adaptability, and strong obstacle-surmounting ability.

Inactive Publication Date: 2017-10-03
杨静姝 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the wheeled structure of the above two robots is not strong enough to overcome obstacles, and is not suitable for working in complex environments with many obstacles such as shallows.

Method used

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  • Wheel-propeller-leg integrated amphibious robot and control method thereof
  • Wheel-propeller-leg integrated amphibious robot and control method thereof
  • Wheel-propeller-leg integrated amphibious robot and control method thereof

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Embodiment

[0028] In terms of overall structural design, the present invention provides an amphibious robot with integrated wheels, paddles and legs, such as figure 1 As shown, including chassis 2, two pairs of umbrella-shaped wheel paddle legs 1 arranged on the chassis 2, the control module 6 is arranged in the middle of the chassis 2, and four water tanks 7 are symmetrically arranged on both sides of the control module 6; There is a camera 3 and a liquid level sensor 4, and a gyroscope 5 is arranged at the bottom of the chassis 2; two pairs of umbrella-shaped wheel paddle legs 1 are respectively driven by the drive module 8, and are installed on the chassis 2 through the support frame 9. Changing the length of the support rod 11 can Control the opening and closing of the umbrella-shaped wheel paddle legs 1; the control module 6 is electrically connected with the camera 3, the liquid level sensor 4, the gyroscope 5, the water tank 7 and the drive module 8, and the control module 6 can ef...

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Abstract

The invention discloses a wheel-propeller-leg integrated amphibious robot and a control method thereof. The robot mainly consists of umbrella wheel-propeller-legs, a chassis, water chambers, driving modules, a control module and a sensor, wherein the umbrella wheel-propeller-legs comprise propeller legs, power output shafts and connecting rods which are hinged to each other to form a three-link mechanism, and the shapes of the wheel-propeller-legs are adjusted by controlling the extension and contraction of the connecting rods made of shape memory alloy to adapt to different environments and obstacles; the four water chambers are symmetrically arranged, and the mass and the centre-of-gravity position of the robot are changed by independently controlling water filling and draining of the water chambers so as to control the robot to realize diving, floating and attitude adjustment. The wheel-propeller-leg integrated amphibious robot disclosed by the invention is high in environmental adaptability, has multiple operation modes of crawling on land, snorkeling in water and crawling underwater, and can be widely used for detection of complex environment on the water side.

Description

technical field [0001] The invention belongs to the field of mobile robots, and relates to an amphibious robot with integrated wheels, legs and paddles. Background technique [0002] In recent years, with the deepening and development of my country's marine scientific research and marine development strategy, more and more survey and detection work has been done in shoals, tidal flats, oceans, lakes and other environments. It is of great significance to develop amphibious robots that can move freely in various environments. [0003] Invention patent CN101570220A discloses a reversible amphibious multi-legged robot with variable posture. The robot is composed of multiple walking feet connected in parallel. By controlling the posture adjustment motor, the robot's standing and motion posture can be changed in real time, and its ability to adapt to complex amphibious environments can be improved. , each walking foot is composed of a single input vertical output module and a leg...

Claims

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Application Information

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IPC IPC(8): B60F3/00B60B19/02B63G8/22
CPCB60B19/02B60F3/0007B63G8/22
Inventor 杨静姝胡旸海
Owner 杨静姝
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