Deformable four-rotor triphibian robot based on rotary duct drivers

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a deformable four-rotor structure robot based on a rotary duct driver, which is composed of a rack, an FOC controller, the rotary duct driver and a deformation mechanism. The rack is in an I-shaped layout and is mainly composed of a front cross beam, a rear cross beam and a main longitudinal beam. Wherein the front and rear cross beams are fixed on the main longitudinal beams through flange bearings and can rotate around the transverse shaft; synchronous pulleys are mounted at the roots of the front and rear cross beams; the steering engine or the stepping motor is installed on the rack, and a synchronous belt wheel is installed on a rotating shaft of the steering engine or the stepping motor. The synchronous pulley on the rotating shaft of the steering engine or the stepping motor and the synchronous pulleys on the front cross beam and the rear cross beam are connected together through a synchronous belt and rotate synchronously. By means of the structure deformation mode, the robot has the underwater, ground and air triphibian maneuvering capacity, the multi-medium rapid conversion and maneuvering capacity of the robot in the complex landform environment is achieved, and the defect that a traditional split type amphibious robot is slow in state conversion is overcome.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a deformable four-rotor amphibious robot based on a rotary ducted drive. Background Art

[0002] When performing tasks such as reconnaissance, search and rescue, and inspection in complex terrain environments where it is difficult for manned equipment to quickly reach or approach, robots that can maneuver in the three media of ground, air, and water are the core of mission effectiveness. Multi-rotor drones have the advantages of flexibility and low requirements for take-off and landing sites, but their battery life is short, making them suitable for rapid maneuvers and aerial searches; ground unmanned vehicles have low noise and long battery life, but their maneuvering speed is slow and their signals are easily obscured by the terrain, making them suitable for long-term close-range reconnaissance; underwater submersibles can operate in underwater environments, but their deployment speed is slow and their functions are single. For this reason, when performing the above tasks in complex terrain environments, multiple sets of unmanned equipment are often required to be used alternately to fully cover the mission area. To this end, multiple research and development teams have successively developed robot systems that can maneuver across media.

[0003] like Figure 1 As shown in the figure, the TJ-FlyingFish (Tongji FlyingFish UAV), developed by the Shanghai Institute of Intelligent Autonomous Systems of Tongji University and the Unmanned Systems Research Group of the Chinese University of Hong Kong, is a drone with aerial and underwater maneuvers. The TJ-FlyingFish consists of a central dome fuselage and four arms symmetrically distributed in a cross shape, with a propulsion device at the end of each arm. Unlike ordinary quadcopters, each propulsion device of the TJ-FlyingFish contains a two-speed gearbox, and the arm on which it is installed can rotate independently relative to the rest of the drone. When the drone is flying, its four propulsion devices and propellers will all face upwards, and use the higher of the two speeds to control the propellers to obtain enough lift for takeoff and hovering, which is no different from the way ordinary quadcopters fly. When landing on the water, these propulsion devices will rotate downward 180 degrees, and then switch to low speed to rotate the propellers, pulling the drone below the water surface. Although TJ-FlyingFish has achieved aerial and underwater maneuverability, it is limited by its redundant structural design and gearbox weight. Its flight time in the air is only 6 minutes and its weight is as high as 1.63 kg.

[0004] like Figure 2As shown, Israel's Heven UAV Technology Company jointly developed and launched a traditional split amphibious robot solution with tactical ground robot system supplier Roboteam at ISDEF 2022, combining aerial multi-rotors and unmanned ground vehicles for land and air missions. This solution can improve the working efficiency of ground robots and flying robots. This solution allows aerial unmanned systems to be integrated with ground robot systems to provide important payloads with explosive ordnance handling capabilities to the battlefield. It realizes the organic combination of flying in the air and driving on the ground. Although this split collaborative robot has solved the contradiction in robot structure design caused by the difference in land and air requirements to a certain extent, its low degree of automation in combination and delivery, long conversion time of traditional split amphibious robots, and complex collaborative control algorithms also make it difficult to promote and apply.

[0005] like Figure 3 As shown in the figure, the X-Tankcopter designed by Polish product designer Witold Mielniczek is an amphibious quadcopter drone with tracks on both sides. When flying in the air, it is driven by four hollow cup motors, and the tracks do not rotate; when walking on the ground, two tracks rotate to control the walking speed and direction, and the four hollow cup motors do not rotate, so it can crawl quickly on the ground. However, its power system has a large weight redundancy, and only one set of flight and walking mechanisms is in working condition, resulting in a flight time of only 12 minutes. It can be seen that how a cross-media robot can maximize the balance between endurance, speed and cost is a daunting challenge.

[0006] Through the above analysis, the problems and defects of the prior art are as follows: (1) Under the premise of ensuring good cross-medium maneuverability, reduce the redundancy and reliability of the robot's power system and walking mechanism. Because flying in the air often requires high motor speeds, while low-speed walking on land often requires slow and precise angle control of the motor, this results in traditional cross-medium aircraft requiring multiple drive systems to adapt to different speed ranges when maneuvering in different media.

[0007] (2) How to reduce the state transition time of cross-media maneuverable robots. Traditional split-type amphibious robots require a lengthy disassembly and assembly process, while some cross-media aircraft require a long time to prepare for entering the water.

[0008] (3) How to balance low cost, long endurance and high maneuverability. Multiple drive systems and running gear result in a large redundant weight of the system, which directly leads to poor endurance and maneuverability. Summary of the invention

[0009] In view of the problems existing in the prior art, the present invention provides a deformable quadrotor amphibious robot based on a rotary ducted drive.

[0010] The present invention is implemented as follows: a deformable quadrotor amphibious robot based on a rotary duct drive is composed of a fuselage, a FOC (Field-Oriented Control) controller, a drive motor, a deformation mechanism and a rotary duct drive; the frame is in an I-shaped layout, mainly composed of left and right longitudinal beams and a main crossbeam; wherein the left and right longitudinal beams are respectively fixed on the main crossbeam by left and right bearing sleeves, and can rotate axially around the longitudinal axis; synchronous pulleys are installed at the roots of the left and right longitudinal beams; a deformation motor is installed on the main crossbeam, and a synchronous pulley is installed on the rotating shaft of the deformation motor; the synchronous pulley on the rotating shaft of the deformation motor and the synchronous pulleys on the left and right longitudinal beams are connected together by a synchronous belt, and rotate synchronously.

[0011] Furthermore, when the left and right deformation motors rotate, the left and right longitudinal beams are driven by the synchronous belt to rotate toward the inner side of the middle of the cross beam, thereby realizing the conversion of the robot from the aerial flight / diving mode to the ground walking mode.

[0012] Further, four rotary ducted actuators are mounted on mountings on both sides of the left and right longitudinal beams; Furthermore, the rotary duct drive is composed of a mounting base, a motor, a propeller blade, a duct ring and a rubber ring, wherein the mounting base is fixed to the two ends of the two beams on the above-mentioned I-shaped fuselage by nuts; the motor is fixed to the above-mentioned mounting base by nuts, and the rotation of the motor drives the propeller blade and the duct ring to rotate, thereby providing driving force for the robot; wherein the FOC controller is installed between the motor and the mounting base, and the motor speed, torque and angle are accurately controlled by the classic FOC algorithm; the propeller blade is fixed to the motor shaft and rotates synchronously with the motor shaft; when the propeller blade rotates in flight and diving modes, the airflow or water flow is pushed to drive the robot; the duct ring is arranged concentrically with the propeller blade and fixed on the outer edge of the propeller blade, which plays a role in protecting the propeller blade and supporting the rubber ring, and rotates synchronously with the propeller blade; the rubber ring is arranged concentrically with the duct ring and fixed on the outer side of the duct ring, and rotates synchronously with the duct ring; in ground mode, the rubber ring contacts the ground and acts as a tire; Furthermore, when the four rotary ducted drives are deployed outward in the air and submersible modes, their rotation planes are parallel to the longitudinal axis of the robot and have the same angle. In the flight (submersible) mode, the rotary ducted drives will rotate at high (medium or low) speeds under the control of the FOC controller, and the propeller blades will push the airflow (water flow) to point directly below the fuselage. The speed difference of the four rotary ducted drives is precisely controlled to control the robot's air (underwater) posture; Furthermore, in the ground walking mode, the four rotary ducted drives are driven by the deformation motor to fold inwards of the fuselage. After folding, their rotation plane is perpendicular to the longitudinal axis of the robot, and the rubber rings of the four rotary ducted drives will touch the ground. The FOC controller controls the rotary ducted drives to rotate at a low speed, and the friction between the outer rubber ring and the ground drives the robot to walk. The rotation angle and speed of the four rotary ducted drives are precisely controlled to control the ground walking speed and direction angle of the robot.

[0013] The present invention provides a method for using a deformable quadrotor amphibious robot based on a rotary ducted drive, the method comprising the following steps: a. The four rotary ducted drives are precisely controlled by the FOC controller, and the motor speed, torque and rotation angle are adjusted according to the robot's environment and mission requirements to achieve stable flight and submergence of the robot; b. When the robot needs to switch from the aerial / submersible mode to the ground walking mode, the deformation motor is started, and the left and right longitudinal beams are driven to rotate together through the synchronous pulley to complete the deformation process of the robot; c. In the ground walking mode, the robot moves by utilizing the contact between the rubber rings of the four rotating ducted drives and the ground. The speed and direction of the rubber rings are adjusted as needed to control the direction and speed of the robot.

[0014] First, the present invention enables the robot to have amphibious maneuverability underwater, on the ground and in the air through structural deformation, solves the problem of rapid maneuverability conversion of the robot in multiple media, and overcomes the shortcoming of slow state conversion of traditional split amphibious robots.

[0015] The FOC control method combined with a specially designed rotary ducted drive enables the same power system to have propulsion capabilities on the ground, in the air and underwater, solving the redundancy problem of traditional amphibious robot power systems, significantly reducing system weight and increasing system endurance.

[0016] Second, the product can be converted into two configurations: air\submersible and ground walking through structural deformation. It has the ability to maneuver in three environments: air, ground and submarine. It has a short conversion time and long endurance time.

[0017] The drive motor cooperates with four rotating ducted drives to provide propulsion in three media: air, underwater, and on the ground. This solves the problem of different drive mechanisms required for maneuvering in different media in the above-mentioned background technology, and greatly reduces the weight and redundant weight of the drive system. When maneuvering in the air, the four rotating ducted drives rotate at high speed, and the ducted blades play the role of traditional drone blades; when maneuvering underwater, the four rotating ducted drives rotate at medium to low speed, and the ducted blades play the role of traditional unmanned ship propellers; when moving on the ground, the four rotating ducted drives rotate at low speed, and the rubber rings play the role of traditional unmanned vehicle wheels.

[0018] Third, the expected benefits and commercial value of the technical solution of the present invention after transformation are: it can be directly applied to the design and application of small, slow, amphibious unmanned robots, the technical solution is highly mature, the threshold for achievement transformation is low, and it can be quickly put into production and industrial application. With its amphibious mobility, reliable control method and mature production process, it can be widely used in reconnaissance and search tasks that require amphibious mobility.

[0019] 1. The deformable structure solves the multi-functional problem of one machine for air / ground / underwater mobility, with fast deformation speed and short preparation time, overcoming the problem of slow decomposition and assembly speed of split amphibious robots in the background technology; Figure 4 With the FOC controller, one power system can provide power for air / ground / underwater. The power system has high utilization rate, small deadweight load and long endurance, which overcomes the problem of excessive deadweight caused by the need for different power systems in different media in the background technology of amphibious robots. 2. The propulsion problem of different media is solved through four rotating duct drives. When rotating at high speed, the duct blades push the airflow to provide thrust; when rotating at medium speed, the friction between the rubber layer of the duct shell and the ground provides thrust; when rotating at low speed, the duct blades push the water flow to provide thrust. This overcomes the problem in the background technology that amphibious robots need different propulsion systems when maneuvering in different media, and further reduces their own weight; 3. The FOC controller and four rotary ducted drives work together to solve the attitude control problem of air / ground / underwater maneuvers. First, the FOC controller can not only ensure the high-speed rotation of the motor, but also accurately control the torque and rotation angle of the motor, which enables the four rotary ducted drives to rotate at high speed and accurately control the angle at low speed; secondly, by controlling the rotation speed of the four rotary ducted drives, the rotation speed of each rotary ducted drive can be accurately controlled in air and underwater modes, thereby changing the robot's attitude. In ground mode, the robot's forward direction and forward speed can be accurately controlled by accurately controlling the rotation angle and rotation speed of each rotary ducted drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a schematic diagram of TJ-FlyingFish provided in an embodiment of the present invention; Figure 2 is a front view of a combined amphibious robot system provided by an embodiment of the present invention; Figure 3 is a schematic diagram of an X-Tankcopter UAV provided in an embodiment of the present invention; Figure 4 It is an overall structural diagram provided by an embodiment of the present invention; Figure 5 1. The top view and side view of four rotary ducted drive structures provided by an embodiment of the present invention; Figure 6 is a schematic diagram of a frame and a deformation mechanism provided by an embodiment of the present invention; Figure 7 This is a top view of the flight / submarine mode provided by an embodiment of the present invention; Figure 8 It is a left view of the flight / submersible mode provided by an embodiment of the present invention; Fig. 9 is a top view of a ground mode provided by an embodiment of the present invention; Fig.10 is a left view of a ground mode provided by an embodiment of the present invention; Fig.11 is a schematic diagram of a FOC controller circuit provided by an embodiment of the present invention; Fig.12 It is a schematic diagram of the FOC control algorithm provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0023] Two specific application examples of the embodiment of the present invention are: Example 1: Search and rescue mission in disaster area After natural disasters such as earthquakes and floods, a deformable quadrotor robot based on four rotary ducted drives can be deployed for search and rescue missions.

[0024] Aerial reconnaissance: The robot first flies into the air above the disaster area in quadcopter mode, and uses the cameras and sensors installed on the fuselage to conduct aerial reconnaissance to quickly assess the situation in the disaster area and determine the approximate location of the trapped people.

[0025] Ground walking mode conversion: When the robot needs to conduct a detailed search in a rubble pile or complex terrain, the deformation motor drives the left and right longitudinal beams to rotate, realizing the transformation from the aerial flight mode to the ground walking mode.

[0026] Ground search: In ground walking mode, the robot uses the rubber rings of the four rotating ducted drives to contact the ground and walk on the ground like a wheeled robot for more precise search and positioning.

[0027] Example 2: Underwater Archaeological Survey The robot of the present invention is also applicable to tasks that require archaeological exploration in an underwater environment.

[0028] Surface movement: The robot flies over the target water area in quadrotor flight mode and uses its multimodal capabilities to conduct a large-scale surface search.

[0029] Underwater diving mode conversion: After reaching the predetermined position, the robot adjusts its structure through the deformation mechanism to reduce wind and water resistance and enter the underwater diving mode. In this mode, the blades of the four rotating duct drives push the water flow, allowing the robot to move smoothly underwater.

[0030] Underwater survey: In underwater mode, the robot uses installed cameras and underwater sensors to conduct detailed surveys and records of shipwrecks, underwater monuments, etc.

[0031] The present invention mainly improves the following problems and defects of the prior art and achieves significant technical progress: Multi-environment adaptability problem: Traditional robots are usually only suitable for a single environment (such as flying only in the air or walking only on the ground). When they need to switch between multiple environments in the air, on the ground, and underwater, they are inefficient and complicated to operate.

[0032] Complexity and reliability issues of deformation mechanisms: Existing multifunctional robots are often complex in deformation mechanism design, easy to damage and difficult to maintain, which limits their application in complex environments.

[0033] Propulsion efficiency and control accuracy issues: Traditional robots have insufficient propulsion efficiency and control accuracy in different environments, especially in underwater environments where performance is usually poor.

[0034] In view of the problems existing in the prior art, the technical solution adopted by the present invention is: Innovative deformation mechanism design: Through the I-shaped frame and the left and right longitudinal beam rotation mechanism controlled by the deformation motor, the present invention allows the robot to quickly switch between the aerial flight mode and the ground walking mode, thereby improving the adaptability to multiple environments.

[0035] Application of four rotary ducted drives: The specially designed rotary ducted drive, combined with the concentric arrangement of blades, ducted rings and rubber rings, provides the robot with the ability to efficiently propel in three media: land, air and underwater, significantly improving propulsion efficiency and control accuracy.

[0036] Precise propulsion control: Through the introduction of the FOC (field vector control) controller, the present invention can accurately control the speed, torque and angle of the motor to achieve efficient and precise propulsion in different environments, especially in the underwater mode, the control accuracy has been significantly improved.

[0037] Simplified deformation and driving mechanism: Compared with the prior art, the deformation mechanism and driving system of the present invention are simpler and more reliable. The deformation motor realizes fast and reliable deformation of the robot through a synchronous belt and pulley system, reducing the system complexity and maintenance difficulty.

[0038] In view of the problems existing in the prior art, the present invention provides a deformable quadrotor amphibious robot based on a rotary ducted drive. The present invention is described in detail below in conjunction with the accompanying drawings.

[0039] As shown in Figure (4), the deformable quadrotor amphibious robot designed in this scheme based on the rotary ducted drive and FOC motor drive technology is mainly composed of a fuselage, four rotary ducted drives and a deformation mechanism.

[0040] The fuselage is composed of the main crossbeam, left longitudinal beam, right longitudinal beam, left shaft sleeve and right shaft sleeve; The middle part of the main crossbeam has mounting holes for the left deformation motor and the right deformation motor; The left bushing is installed at the left end of the main beam; The right bushing is installed at the right end of the main beam; The left longitudinal beam is installed in the left shaft sleeve through a jackscrew and can rotate along its axial direction in the shaft sleeve; The right longitudinal beam is installed in the right sleeve through a jackscrew and can rotate along its axial direction in the sleeve; A left synchronous wheel installation hole is reserved on the side of the left longitudinal beam close to the left shaft sleeve; A right synchronous wheel installation hole is reserved on the side of the right longitudinal beam close to the right shaft sleeve; Mounting holes for the rotary duct drive are respectively provided on both sides of the left and right longitudinal beams.

[0041] As shown in Figure (5), the rotary ducted drive consists of a mounting base, a FOC controller, a motor, blades, a ducted ring and a rubber ring.

[0042] The mounting base is fixed to the two ends of the two beams on the I-shaped fuselage by nuts; The motor is fixed to the mounting base through a nut, and the rotation of the motor drives the blades and the duct ring to rotate, providing driving force for the robot; The FOC controller is installed between the motor and the mounting base, and uses the classic FOC (Field-Oriented Control) algorithm to accurately control the motor's speed, torque and angle. The propeller blades are fixed on the motor shaft and rotate synchronously with the motor shaft. When the propeller blades rotate in flight and diving modes, they push air or water flow to drive the robot. The duct ring is arranged concentrically with the blade and fixed on the outer edge of the blade to protect the blade and support the rubber ring, and rotates synchronously with the blade. The rubber ring is arranged concentrically with the duct ring, fixed on the outer side of the duct ring, and rotates synchronously with the duct ring; in the ground mode, the rubber ring contacts the ground and acts as a tire.

[0043] As shown in Figure (11), the above FOC controller is usually composed of a main control chip, multiple driving elements, a current detection circuit and an angle sensor; The driving element is used to provide the motor phase current of the required magnitude; The current detection circuit is used to detect the magnitude of the phase current and phase voltage; The rotation angle sensor detects the mechanical angle of the motor rotor; The main control chip calculates the instantaneous magnitude of the phase current based on parameters such as the rotor angle, motor structure, phase voltage and phase current, and controls the switching of the drive element to generate the required phase current.

[0044] As shown in Figure (12), the control algorithm of the above-mentioned FOC controller adopts the classic field-oriented drive algorithm, which uses coordinate transformation to convert the motor phase current in the three-phase stationary coordinate system into a rotating coordinate system that is stationary relative to the rotor pole axis. By controlling the vector size and direction in the rotating coordinate system, the purpose of controlling the motor speed, torque and angle is achieved.

[0045] As shown in Figure (6), the deformation mechanism is composed of a left deformation motor, a right deformation motor, a left synchronous wheel, a right synchronous wheel and two left and right synchronous belts; The left and right deformation motors are fixed on the above-mentioned fuselage longitudinal beam; The left and right synchronous wheels are respectively fixed on the left and right cross beams of the above-mentioned fuselage; The left deformation motor and the left synchronous wheel are connected together through the left synchronous belt. When the left deformation motor rotates, the left synchronous wheel and the left crossbeam are driven to rotate synchronously through the left synchronous belt. The right deformation motor and the right synchronous wheel are connected together through the right synchronous belt. When the right deformation motor rotates, the right synchronous wheel and the right crossbeam are driven to rotate synchronously through the right synchronous belt. When the two deformation motors rotate at different angles, the robot switches between flight / diving mode and ground mode.

[0046] As shown in Figures (7 and 8), in the air / submersible mode, after the four rotating ducted actuators are deployed outward, their rotating planes are parallel to the longitudinal axis of the robot and have the same angle. In the air mode, the FOC controller controls the four rotating ducted actuators to rotate at high speed, and their lift directions are all directed to the bottom of the fuselage. The air attitude is adjusted by controlling the speed difference of the four actuators; in the submersible mode, the FOC controller controls the four rotating ducted actuators to rotate at medium and low speeds, and their thrust directions are directed to the bottom of the fuselage. The underwater attitude is adjusted by controlling the speed difference of the four actuators.

[0047] As shown in Figures (9 and 10), in the ground mode, the four rotary ducted drives are driven by the deformation motor to fold toward the inside of the fuselage. After folding, their rotation planes are perpendicular to the longitudinal axis of the robot, and the rubber rings of the four rotary ducted drives will touch the ground. The FOC controller controls the four rotary ducted drives to rotate at a low speed. When the four rotary ducted drives rotate, the above-mentioned outer rubber rings will touch the ground, and the robot will be pushed to walk by friction. The ground speed and direction angle of the robot are controlled by precisely controlling the rotation angle and speed difference of the four drives.

[0048] The technical solution of the present invention can be applied to the design and application of a small amphibious robot. In specific applications: The motors in the above four rotary ducted drives may be selected from but not limited to BLDC brushless motors; The blades of the four rotary ducted drives can be of fixed or variable torque configuration. The use of a variable torque configuration can optimize propulsion efficiency in both air and submerged modes. The width of the duct ring and rubber ring is determined by the motor power and the ground road conditions. When the road hardness is high and the adhesion is good, a narrower width can reduce the driving resistance and extend the cruising range of the ground mode. On the contrary, when the adhesion is low, choosing a wider rubber ring will increase the adhesion but shorten the cruising range. The above-mentioned deformation motor may be selected from but not limited to a steering gear, a stepper motor, a brushless motor and a DC reduction motor; In the above ground mode, in order to ensure driving stability when the four rotating duct drives are folded inward, the folding angle can be selected to be an outward eight-shaped structure with an angle less than 90°, and the driving stability is increased by the inclination angle of the four rotating duct drives; The driving components in the above FOC controller can be selected according to the maximum phase current but are not limited to components such as NMOS, FET or IGBT; The rotation angle sensor in the above FOC controller may be selected from but not limited to ABI photoelectric encoder, magnetic encoder or Hall sensor; The driver in the above FOC controller can be selected from but not limited to general chips such as esp32, stm32 or special motor driver chips such as drv8312; Compared with the prior art, the technical advantages of the amphibious robot shown in the technical solution of the present invention are achieved by the deformable body structure, four rotary duct drives and FOC control method. Currently, there is no related application report of similar micro amphibious robots.

[0049] like Figures 1 to 3 As shown, firstly, compared with the traditional quadcopter, the deformable fuselage structure only adds two deformable motors, two synchronous belts and two synchronous wheels, compared with the background technology Figure 1 The TJ-FlyingFish amphibious drone shown in the figure simplifies the deformation mechanism, and the deformation motor is simplified from 4 to 1; compared with the background technology Figure 3 The X-Tankcopter non-transformable drone shown in the figure has two less ground walking motors; compared with the background technology Figure 2 The split collaborative robot shown saves the operation process and conversion time of decomposition and combination, and improves system reliability.

[0050] Secondly, the four rotating ducted drives have the ability to propel in three media: air, underwater and on the ground. Figure 3 The two sets of walking mechanisms of the X-Tankcopter amphibious drone shown greatly reduce the redundancy of the walking mechanisms, reduce the weight of the system, and thus increase the flight time; Thirdly, the FOC drive mode enables the drive motor to run at high speed and accurately control the angle and torque when running at medium and low speeds. Therefore, there is no need for multiple drive motors to meet the drive requirements in different media. Figure 1 The TJ-FlyingFish amphibious UAV shown in the figure saves four 2-speed gearboxes, greatly simplifies the mechanical structure, further reduces the system weight and increases the flight time.

[0051] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0052] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. A person of ordinary skill in the art will understand that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The device and its modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0053] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A deformable quadrotor amphibious robot based on a rotary ducted drive, characterized in that: It consists of a fuselage, a rotating duct drive, a FOC controller, and a deformation mechanism; the frame is in an I-shaped layout, mainly composed of left and right longitudinal beams and a main crossbeam; the left and right longitudinal beams are fixed on the main crossbeam through flange bearings and can rotate around the longitudinal axis; synchronous pulleys are installed at the roots of the left and right longitudinal beams; the deformation motor is installed on the frame, and a synchronous pulley is installed on its rotating shaft; the synchronous pulley on the deformation motor shaft and the synchronous pulleys on the left and right longitudinal beams are connected together through a synchronous belt and rotate synchronously.

2. The deformable quadrotor amphibious robot based on a rotary ducted drive according to claim 1, characterized in that: When the deformation motor rotates, the left and right longitudinal beams are driven by the synchronous belt to rotate toward the inner side of the middle of the cross beam, so that the robot can be transformed from the aerial flight / diving mode to the ground walking mode.

3. The deformable quadrotor amphibious robot based on a rotary ducted drive according to claim 1, characterized in that: The rotary ducted drive consists of a mounting base, an FOC controller, a motor, a propeller, a ducted ring and a rubber ring; the mounting base is fixed to the two ends of the two beams on the I-shaped fuselage by nuts; the motor is fixed to the mounting base by nuts, and the rotation of the motor drives the propeller and the ducted ring to rotate, providing driving force for the robot; the FOC controller is installed between the motor and the mounting base, and the motor speed, torque and angle are accurately controlled by the classic FOC algorithm; the propeller is fixed to the motor shaft and rotates synchronously with the motor shaft; when the propeller rotates in flight and diving modes, it pushes the airflow or water flow to drive the robot; the ducted ring is arranged concentrically with the propeller, fixed on the outer edge of the propeller, plays a role in protecting the propeller and supporting the rubber ring, and rotates synchronously with the propeller; The rubber ring is arranged concentrically with the duct ring, fixed on the outer side of the duct ring, and rotates synchronously with the duct ring; in the ground mode, the rubber ring contacts the ground and acts as a tire.

4. The deformable quadrotor amphibious robot based on a rotary ducted drive according to claim 1, characterized in that: The rotary duct drive provides the robot with propulsion in three media: land, air and underwater. The specially designed deformation mechanism uses two deformation motors to enable the robot to switch freely between flight mode, land mode and underwater mode.

5. The deformable quadrotor amphibious robot based on a rotary ducted drive according to claim 4, characterized in that: In the aerial mode, after the four rotary ducted actuators are deployed outward, their rotating surfaces are parallel to the longitudinal axis of the robot and have the same angle. In the flight mode, under the control of the FOC controller, the rotary ducted actuators will rotate at high speed, and their lift directions are all pointing to the bottom of the fuselage.

6. The deformable quadrotor amphibious robot based on a rotary ducted drive according to claim 4, characterized in that: In land mode, the four ring drives are driven by the deformation motor to fold inwards of the fuselage. After folding, the rotating surface is perpendicular to the longitudinal axis of the robot. When the rotary duct drive rotates, the outer rubber ring will contact the ground, and the friction force will push the robot to walk. The ground posture of the robot can be controlled by precisely controlling the rotation angle of the four rotary duct drives.

7. The deformable quadrotor amphibious robot based on a rotary ducted drive according to claim 4, characterized in that: In underwater mode, the robot configuration is the same as in aerial flight mode. FOC controls the rotary duct drive to rotate at medium and low speeds to push the water flow and drive the robot to dive.

8. The deformable quadrotor amphibious robot based on a rotary ducted drive according to claim 1, characterized in that: The FOC controller controls the rotation speed and angle of the four motors respectively, and the robot posture in land mode, flight mode and diving mode.

9. A method for using a deformable quadrotor amphibious robot based on a rotary ducted drive in flight and submerged modes, characterized in that: The method comprises the following steps: a. The FOC controller precisely controls the rotary duct drive and adjusts the motor speed, torque and angle according to the robot's environment and mission requirements to achieve stable flight and submergence of the robot; b. When the robot needs to switch from the aerial / submersible mode to the ground walking mode, the deformation motor is started, and the left and right longitudinal beams are driven to rotate together through the synchronous pulley to complete the deformation process of the robot; c. In the ground walking mode, the robot moves by utilizing the contact between the rubber ring of the rotary duct drive and the ground, and the speed and direction of the rubber ring are adjusted as needed to control the direction and speed of the robot.

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