Air-ground amphibious robot applied to tunnel electric power inspection and use method of air-ground amphibious robot

Abstract

The invention discloses an air-ground amphibious robot applied to tunnel electric power inspection and a using method thereof, and belongs to the technical field of intelligent inspection equipment. The robot is based on layered modular design and comprises a shell assembly, a land walking mechanism and a flying mechanism integrated with a deformation module, land-air dual-mode fast switching is achieved through active adjustment of the space poses of machine arms, and the robot can adapt to narrow space of a tunnel and complex terrain. The layout of the direct-drive power wheel assembly and the orthogonal symmetric arms is adopted, and compared with a traditional gear transmission structure, the transmission loss and the structural weight are effectively reduced; the problem that tunnel scene movement is limited is solved through the bimodal seamless switching technology, the terrain adaptability is improved through the compact structural design, and the data acquisition stability under the complex working condition is ensured through the dynamic image stabilization and fusion sensing technology.

Description

Technical Field

[0001] The present invention relates to an inspection robot, and in particular to an amphibious robot used for tunnel power inspection and a method of using the robot. Background Art

[0002] Existing tunnel power inspections primarily rely on a combination of manual inspections and fixed monitoring devices, which presents significant technical shortcomings. Manual inspections present practical challenges such as high labor intensity, poor accessibility to high-risk areas, and discrete data collection. Fixed sensor networks, on the other hand, suffer from technical drawbacks such as numerous deployment blind spots, difficult equipment maintenance, and non-reconfigurable topology. Mainstream inspection robots often employ a single mobility mode: rotor drones, limited by their sensitivity to aerodynamic interference and limited endurance, struggle to perform long-term inspections in confined spaces. Wheeled / tracked robots, while capable of continuous ground motion, have poor obstacle-crossing capabilities and cannot effectively handle complex terrain. Rail-type inspection systems, while capable of achieving fixed-path coverage, suffer from high deployment costs, easily deformable mechanical structures, and poor scalability.

[0003] In recent years, multimodal mobile robot technology has been gradually applied to complex environments. In particular, amphibious land-air robots, by integrating rotor flight with ground locomotion, have demonstrated superior environmental adaptability in scenarios such as field surveys and disaster relief. However, existing amphibious land-air robots are not specifically optimized for tunnel power inspections. They often utilize rigid bodies and fixed configurations, making them difficult to adapt to the confined space of standard tunnel maintenance passages. Regarding motion control, existing systems often employ independent motion mode switching strategies and lack dynamic coupling control mechanisms for land-air motion modes within tunnel spaces.

[0004] In summary, the current field of tunnel power inspection faces a dual technical dilemma: traditional inspection equipment is limited by the physical constraints of a single motion mode, while the new land and air amphibious robot has the defect of insufficient scene adaptability: for example, the application number is CN202311604530.2, and the invention is named Tunnel Inspection Robot. Although the sliding rail device in its technical solution can realize fixed path inspection, the installation and maintenance costs are high, and the tunnel environment requirements are high, and it cannot be flexibly deployed in complex terrain; the application number is CN202510019572.2, and the invention is named Land and Air Amphibious Robot. The system adopts a universal architecture design and is not equipped with a deformable and retractable structure, resulting in a fixed body size, which is difficult to adapt to operations in the narrow space in the tunnel.

[0005] Therefore, it is urgent to propose an amphibious robot for tunnel power inspection and a method of using the robot to solve the above technical problems. Summary of the Invention

[0006] In response to the shortcomings of the above-mentioned technologies, the purpose of the present invention is to provide a land-air amphibious robot for tunnel power inspection and a method of use thereof, so as to solve the problems in the existing technology that manual inspection, fixed monitoring, and single-mode inspection robots are not effective in tunnel power inspection scenarios, and that land-air amphibious robots lack special optimization for tunnel power inspection scenarios.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A land and air amphibious robot used for tunnel power inspection includes a shell assembly, a land walking mechanism and a flying mechanism, wherein the flying mechanism includes a deformation module, and the deformation module realizes the switching of the robot's land walking mode and air flying mode by changing the spatial posture of the arm in the flying mechanism.

[0008] Furthermore, the shell assembly adopts a layered frame structure, including an upper shell, a lower shell, a first symmetrical connecting column group and a second symmetrical connecting column group. Holes are distributed on the shell for hardware routing. The upper shell and the lower shell are fixedly connected by the first symmetrical connecting column group and the second symmetrical connecting column group. The upper shell is composed of a top cover and an upper bottom plate with an annular side wall, forming a semi-enclosed space. The lower shell is composed of a lower bottom plate and is connected to four connecting columns. It is an open platform structure, wherein the bottom ends of the first symmetrical connecting column group and the second symmetrical connecting column group are connected to the land mechanism.

[0009] Furthermore, the land-based mechanism includes a power wheel, a power wheel motor, a motor bracket, a steering wheel and a steering wheel connecting frame. The power wheel motor can be a brushless motor, the output end of which is coaxially connected to the power wheel and fixed to the motor bracket. The motor bracket is installed on the first symmetrical connecting column group of the shell assembly. The steering wheel can be a universal wheel, which is installed on the second symmetrical connecting column group of the shell assembly through the steering wheel connecting frame, wherein the lowest points of all wheels are in the same horizontal plane.

[0010] Furthermore, the flight mechanism includes blades, blade motors, blade fixing gaskets, arms and deformation modules. The blade motor can adopt a low KV value brushless motor and be installed at the end of the arm. The blades can adopt large-size blades and be installed at the output end of the blade motor. The blade fixing gasket is installed at the end of the blade motor. The arm is rotationally connected to the deformation module, and the deformation module is fixedly connected to the shell assembly. The arms are orthogonally symmetrically distributed in the unfolded state. The connecting lines of the four groups of arm ends form a regular quadrilateral geometric layout. A preset angle of 90°±5° is formed between the axes of adjacent arms. When folded, the arms fit into the side wall of the shell assembly.

[0011] Furthermore, the deformation module includes a deformation motor, an upper rotating gasket, and a lower rotating gasket. The deformation motor can adopt a motor with a rotary encoder, which is fixed at the four corners of the upper shell and can drive the arm to rotate within a set angle range. One end of the lower rotating gasket is coaxially connected to the output shaft of the deformation motor, and the other end is fixedly connected to the arm. One end of the upper rotating gasket is fixedly connected to the upper shell, and the other end is coaxially connected to the arm, thereby realizing the rotational connection between the arm and the upper shell.

[0012] Furthermore, it also includes a visual detection module, a laser radar and a control system. The visual detection module is installed on the top of the upper shell, located in the center of the top cover, the laser radar is installed in the center of the lower shell, and the control system is arranged inside the upper shell, and is electrically connected to the visual detection module and the laser radar respectively.

[0013] Furthermore, the visual inspection module includes a two-degree-of-freedom active image-stabilizing gimbal, including a gimbal shell assembly, a horizontal motor, a pitch motor, and a camera module. The horizontal motor and the pitch motor can adopt DC servo motors, wherein the gimbal shell assembly includes a base mounting plate, a first secondary bracket, a second secondary bracket and a camera support frame. The lower end of the base mounting plate is fixedly connected to the top cover, and the upper end is coaxially connected to the output end of the horizontal motor; the secondary bracket is placed in a mirror-symmetrical manner, and the horizontal motor body is confined in the adaptation cavity formed after the secondary bracket is docked. The output end of the pitch motor is connected to the first secondary bracket, the first secondary bracket and the second secondary bracket are rotationally connected to the camera support frame, and the camera support frame is fixedly connected to the camera.

[0014] Furthermore, the laser radar includes a radar rotating head, a radar motor, a radar bracket, and a radar main control box. The radar bracket is installed on the upper part of the lower shell. The radar rotating head is rotatably installed on the top of the radar bracket through a bearing assembly. The radar motor is fixed on the side of the radar bracket and is connected to the radar rotating head through a belt drive mechanism. The radar main control box is installed on the lower part of the lower shell.

[0015] Furthermore, the control system includes a control module and a power module. The control module includes a flight control unit, a motion control unit and a control main board. The power module includes a battery and a battery support plate. The control main board is installed inside the upper shell. The battery support plate is vertically fixed to the inner bottom wall of the upper shell, adjacent to the control main board, and the battery is detachably installed on the battery mounting rack.

[0016] Furthermore, the motion control unit includes a multi-channel motor driver, which is electrically connected to the control mainboard and the power wheel motor; the flight control unit includes a flight controller, a receiver, an electric speed controller bracket and a four-in-one electric speed controller, the flight controller is installed above the multi-channel motor driver, the electric speed controller bracket is installed on both sides of the control mainboard, and the four-in-one electric speed controller is installed on the electric speed controller bracket. The flight controller is connected to the receiver through a serial port interface, and is electrically connected to the four-in-one electric speed controller, which is electrically connected to the blade motor; wherein, the flight controller and the motion control unit exchange data through bus communication;

[0017] A method for using an amphibious robot for tunnel power inspection includes the following steps:

[0018] Robot initialization:

[0019] After the robot is powered on, the program in the control board is started, all motors are locked, and the receiver and remote controller are successfully linked. Initialization is complete and the robot enters land mode after initialization.

[0020] Land mode:

[0021] The arms are folded, the propeller motors and the deformation motors remain locked, and the power wheel motors directly drive the power wheels to rotate, moving them forward and backward. Through the four-wheel differential drive method, in conjunction with the steering wheel, the robot is controlled to complete the turning movement, and PID control is used to make each power wheel motor reach its desired speed.

[0022] Airplane Mode:

[0023] The arms are unfolded, the power wheel motor and the deformation motor remain locked, and the propeller motor drives the propellers to rotate. During this process, the wheels gradually leave the ground and no longer bear the load, and the robot enters flight mode.

[0024] Mode switch:

[0025] The land mode and flight mode can be switched between each other. The four deformation motors rotate 90 degrees in the same direction and rotate at the same time to avoid interference between parts. Through PID control, the deformation motors reach their respective desired positions and are locked.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1) The present invention has a simple and reliable structure, is flexible and changeable, has good controllability in both land and air postures, has good robustness and portability, and is applicable to complex tunnel power inspection scenarios.

[0028] 2) The present invention realizes a dual-mode design of land and flight, breaking through the limitation of the single motion mode of traditional tunnel power inspection robots. It can move efficiently in a small space with low power consumption in land mode, and can solve the problem of overcoming complex obstacles in the tunnel in flight mode.

[0029] 3) The present invention adopts a deformable body structure to optimize the traditional land and air amphibious robot for tunnel power inspection scenarios. It uses foldable arms and a layered shell. When flying, the arms are unfolded to form an orthogonal symmetrical layout. When walking on land, the arms are folded to fit the side walls of the fuselage, improving the robot's adaptability to complex and narrow terrain.

[0030] 4) The present invention integrates environmental perception functions and realizes a hierarchical hardware layout through modular shell components. The upper closed space integrates the control unit, and the lower open platform facilitates equipment maintenance and function expansion. It is equipped with a visual detection module and a laser radar, which can achieve high-precision environmental perception and is suitable for tunnel power inspection scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a three-dimensional schematic diagram of an amphibious robot (referred to as robot for short) used for tunnel power inspection as described in the present invention.

[0032] Figure 2 It is a front view of the robot described in the present invention.

[0033] Figure 3 1 is a top view of the robot of the present invention.

[0034] Figure 4 It is a partial explosion schematic diagram of the robot described in the present invention.

[0035] Figure 5 It is a structural schematic diagram of the land-based mechanism of the present invention.

[0036] Figure 6 It is a structural schematic diagram of the flight mechanism of the present invention.

[0037] Figure 7 It is a structural schematic diagram of the deformation module of the present invention.

[0038] Figure 8 It is a schematic structural diagram of the upper shell of the present invention after cross-section.

[0039] Figure 9 It is a partial enlarged structural schematic diagram of the upper shell of the present invention.

[0040] Figure 10 It is a partial enlarged structural schematic diagram of the lower shell of the present invention.

[0041] Figure 11It is a structural diagram of the visual detection module of the present invention.

[0042] Figure 12 1 is a rear view of the visual inspection module of the present invention.

[0043] Figure 13 2 is a schematic diagram of the robot in land mode according to the present invention.

[0044] Figure 14 2 is a schematic diagram of the flight mode of the robot described in the present invention.

[0045] In the figure: 1-shell assembly, 2-land mechanism, 3-flight mechanism, 4-visual detection module, 5-laser radar, 6-control module, 7-power module, 101-upper shell, 102-lower shell, 103-first symmetrical connecting column group, 104-second symmetrical connecting column group, 201-power wheel, 202-power wheel motor, 203-motor bracket, 204-steering wheel, 205-steering wheel connecting frame, 301-propeller, 302-propeller motor, 303-propeller fixing gasket, 304-machine arm, 305-deformation module, 401-gimbal shell assembly, 402-horizontal motor, 403-pitch motor, 404- Camera module, 501-radar rotating head, 502-radar motor, 503-radar bracket, 504-radar main control box, 601-control mainboard, 602-four-in-one ESC, 603-flight controller, 604-multi-channel motor driver, 605-ESC bracket, 701-battery support plate, 702-battery, 101-1-top cover, 101-2-upper bottom plate, 305-1-deformation motor, 305-2-upper rotating gasket, lower layer 305-3-rotating gasket, 401-1-base mounting plate, 401-2-first secondary bracket, 401-3-second secondary bracket, 401-4-camera carrier. DETAILED DESCRIPTION

[0046] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be fully described below with reference to the accompanying drawings. It should be noted that the embodiments described are only typical implementation methods of the present application and not all embodiments. Based on the embodiments in the present application, other embodiments that can be obtained by those skilled in the art without creative work are all within the scope of protection of the present application.

[0047] Example 1

[0048] Combine Figures 1-12This embodiment describes an amphibious robot for tunnel power inspection, comprising a housing assembly 1, a land-based mechanism 2, and a flight mechanism 3. The deformation module 305 of the flight mechanism 3 switches between a land-based movement mode and an aerial flight mode by changing the spatial position of an arm 304.

[0049] The deformation module 305 includes a deformation motor 305-1, an upper rotating gasket 305-2, and a lower rotating gasket 305-3. The deformation motor 305-1 is fixed to the four corners of the upper shell 101, and the lower rotating gasket 305-3 is coaxially connected to the output shaft of the deformation motor 305-1. The deformation motor 305-1 realizes the rotational connection between the machine arm 304 and the upper shell 101 through the upper rotating gasket 305-2 and the lower rotating gasket 305-3. The deformation motor 305-1 uses a motor equipped with a rotary encoder and realizes precise positioning of the machine arm angle through a PID position control algorithm. The four independently controlled deformation motors 305-1 can be locked synchronously to ensure the stability of a single mode.

[0050] The shell assembly 1 includes an upper shell 101, a lower shell 102, a first symmetrical connecting column group 103 and a second symmetrical connecting column group 104. The upper shell 101 and the lower shell 102 are fixedly connected by the first symmetrical connecting column group 103 and the second symmetrical connecting column group 104, and together constitute the main body of the robot. The land mechanism 2 is connected to the bottom ends of the two symmetrical connecting column groups, and the flying mechanism 1 is rotatably connected to the upper shell. Among them, the upper shell 101 is composed of a top cover 101-1 and an upper bottom plate 101-2 with annular side walls, which enclose a closed space for storing circuit boards or other fragile peripherals. The lower shell 102 is composed of a lower bottom plate and is an open platform structure for placing the laser radar 5. Its structure facilitates the operation and heat dissipation of the laser radar 5. The shell adopts a layered frame structure, and holes are distributed on the shell to facilitate wiring, disassembly and maintenance.

[0051] The land-based mechanism 2 includes a power wheel 201, a power wheel motor 202, a motor bracket 203, a steering wheel 204, and a steering wheel connecting frame 205. The power wheel motor 202 is a brushless motor, coaxially connected to the power wheel 201 and fixed to the motor bracket 203. The motor bracket 203 is mounted on the first symmetrical connecting column group 103. The steering wheel 204 is mounted on the second symmetrical connecting column group 104 via the steering wheel connecting frame 205. The power wheel drives the robot to steer using differential drive. The land-based motion system is controlled through closed-loop feedback control to ensure the dynamic robustness of the motion system.

[0052] The flight mechanism 3 includes a blade 301, a blade motor 302, a blade fixing gasket 303, an arm 304 and a deformation module 305. The blade motor 302 is installed at the end of the arm 304, and the output end of the blade motor 302 is coaxially connected to the blade 301. The blade fixing gasket 303 is installed at the end of the blade motor 302. The arms 304 are orthogonally symmetrically distributed in the unfolded state, and a predetermined angle of 90°±5° is formed between the axes of adjacent arms 304, which can meet the use conditions of the flight controller. When folded, the arm 304 fits the side wall of the shell assembly 1, minimizing the projected area of the robot, thereby allowing the robot to pass through narrow spaces. The blade motor 302 adopts a low-KV brushless motor, and the blade 301 adopts a large-size blade. The low-KV brushless motor with the large-size blade can achieve high lift output while ensuring flight stability and extending flight time.

[0053] The robot also includes a visual detection module 4 and a laser radar 5. The visual detection module 4 is installed on the top of the upper shell 101, located in the center of the top cover 101-1, and the laser radar 5 is installed in the center of the lower shell 102. The visual detection module 4 and the laser radar 5 form a multi-dimensional fusion environment monitoring working module, which enables the robot to perform monitoring operations in dark, narrow and complex tunnel environments. Through algorithms, it can achieve sensitive perception and real-time response to the surrounding environment.

[0054] The visual inspection module 4 includes a two-degree-of-freedom active image stabilization platform, including a platform shell assembly 401, a horizontal motor 402, a pitch motor 403, and a camera module 404. The platform shell assembly 401 includes a base mounting plate 401-1, a first secondary bracket 401-2, a second secondary bracket 401-3 and a camera support frame 401-4. The lower end of the base mounting plate 401-1 is fixedly connected to the top cover 101-1, and the upper end is coaxially connected to the output end of the horizontal motor 402. The secondary brackets are placed in a mirror-symmetrical manner. The horizontal motor 40 The main body is confined within the adaptable cavity formed by the docking of the secondary brackets. The output end of the pitch motor 403 is connected to the first secondary bracket 401-2. The first secondary bracket 401-2 and the second secondary bracket 401-3 are rotatably connected to the camera support 401-4. The camera support 401-4 is fixedly connected to the camera. The visual detection module can achieve large-scale coverage of the surrounding environment. The processing and integration of historical visual information by the algorithm can further increase the coverage area. The remaining visual blind spots can be assisted by laser radar perception.

[0055] The laser radar 5 includes a radar rotating head 501, a radar motor 502, a radar bracket 503, and a radar main control box 504. The radar main control box 504 is mounted on the lower part of the lower shell 102, and the radar bracket 503 is mounted on the upper part of the lower shell 102. The radar rotating head 501 is rotatably mounted on the top of the radar bracket 503 through a bearing assembly. The radar motor 502 is fixed to the side of the radar bracket 503. The radar rotating head and the radar motor are driven by a synchronous belt to achieve 360° stable scanning with a scanning frequency greater than 10Hz.

[0056] It also includes a control system, including a control module 6 and a power module 7, wherein the control module 6 includes a motion control unit, a flight control unit and a control mainboard 601, and the power module 7 includes a battery support plate 701 and a battery 702. The control mainboard 601 is installed inside the upper shell 101, and the battery support plate 701 is vertically fixed to the inner bottom wall of the upper shell 101 to achieve center of gravity optimization. The battery 702 is detachably mounted on the battery support plate 701. The battery is preferably configured as a 4S lithium polymer battery pack to ensure the continuity of the robot's use.

[0057] The motion control unit includes a multi-channel motor driver 604, which is installed above the control motherboard 601 and is electrically connected to the control motherboard 601 and the power wheel motor 202. The flight control unit includes a flight controller 603, a receiver, an electric adjustment bracket 605, and a four-in-one electric adjustment 602. The flight controller 603 is installed above the multi-channel motor driver 604, the electric adjustment bracket 605 is installed on both sides of the control motherboard 601, and the four-in-one electric adjustment 602 is installed on the electric adjustment bracket 605. The flight controller 603 is connected to the receiver via a serial port interface and is electrically connected to the four-in-one electric adjustment 602. The four-in-one electric adjustment 602 is electrically connected to the blade motor 302. The flight controller 603 and the motion control unit exchange data through bus communication.

[0058] The present invention can effectively solve the current difficulties faced by tunnel power inspections. By adopting a multimodal optimal perception robot, it can not only adapt to the complex terrain in the tunnel, but also meet the long-endurance requirements of tunnel fixed-point monitoring or inspections. Combining land-based unmanned vehicles with four-rotor drones can not only give full play to the unmanned vehicle's outstanding performance in energy efficiency and narrow space passage, but also have the outstanding characteristics of drones in obstacle avoidance and maneuverability. It is innovative and has practical use value.

[0059] Example 2

[0060] Combine Figures 1-14 This embodiment describes a method for using an amphibious robot for tunnel power inspection. The amphibious robot (hereinafter referred to as the robot) in Example 1 is used. The method includes the following steps:

[0061] Robot initialization:

[0062] After the robot is powered on, it initiates a power-on self-test. The control board 601 automatically detects the status of each actuator and uses Hall effect sensors or rotary encoders to provide feedback on the motor zero position reference, ensuring that all motors are in a securely locked position. The dual-band frequency-hopping communication mechanism ensures interference-free frequency binding between the receiver and the remote controller. After successful frequency binding, the system is initialized and remains in land mode by default, entering low-power standby mode.

[0063] Land mode:

[0064] In flat, narrow environments, the robot uses land mode, with the arms 304 folded, the paddle motors 302 and the deformation motor 305-1 locked, and the power wheel motors 202 directly driving the power wheels 201 to rotate, enabling forward and backward movement. The robot is controlled to steer using a four-wheel differential drive system in conjunction with the steering wheel 204. PID control is used to ensure synchronization of the power wheel motors 202 speeds. For complex road conditions, a dynamic load distribution strategy is employed. When slippage is detected on one side of the wheel, the control board 601 automatically reduces the torque output of the power wheel on that side while increasing the driving torque of the opposite wheel. A force balance algorithm is used to maintain vehicle posture stability.

[0065] Airplane Mode:

[0066] The robot adopts flight mode in a rugged environment with many obstacles. The arms 304 are synchronously unfolded to the set angle, the power wheel motor 202 and the deformation motor 305-1 remain locked, and the blade motor 302 drives the blade 301 to rotate. In this process, the wheels gradually leave the ground and no longer bear the load. The robot enters flight mode. The flight controller 603 integrates IMU data and uses the quaternion method for attitude estimation. Through feedback, it outputs a PWM control signal to achieve control of the robot's motion posture. For the narrow environment of the tunnel, a feedforward compensation algorithm is introduced, and a lift adaptive compensation method is used: when the visual detection module 4 or the laser radar 5 detects that it is close to an obstacle or the tunnel wall, the flight controller 603 automatically adjusts the blade attack angle and reduces the vertical acceleration through feedforward control to avoid attitude instability caused by airflow disturbances.

[0067] Mode switch:

[0068] The vehicle can be switched between the land mode and the flight mode. The four deformation motors 305-1 rotate synchronously 90 degrees in the same direction to complete the shape transformation. During synchronous control, the phase difference of the motor angles is calculated, and a phase difference compensation algorithm is used to achieve 100% avoidance of interference between parts. Incremental PID control is used to ensure that the angle positioning accuracy is less than 0.5°.

[0069] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0070] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

[0071] The above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, it should be understood by those skilled in the art that any person skilled in the art can still modify the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or perform equivalent replacements on some of the technical features thereof. However, these modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An amphibious robot for tunnel power inspection, characterized by: The invention comprises a housing assembly (1), a land-based mechanism (2) and a flying mechanism (3), wherein the flying mechanism (3) comprises a deformation module (305), and the deformation module (305) realizes the switching between the land-based movement mode and the aerial flight mode of the robot by changing the spatial posture of the machine arm (304) in the flying mechanism (3).

2. The amphibious robot for tunnel power inspection according to claim 1 is characterized in that: The shell assembly (1) adopts a layered frame structure, including an upper shell (101), a lower shell (102), a first symmetrical connecting column group (103) and a second symmetrical connecting column group (104). Holes are distributed on the shell. The upper shell (101) and the lower shell (102) are fixedly connected by the first symmetrical connecting column group (103) and the second symmetrical connecting column group (104). The upper shell (101) is composed of a top cover (101-1) and an upper bottom plate (101-2) with an annular side wall, forming a semi-enclosed space. The lower shell (102) is composed of a lower bottom plate and is connected to four connecting columns, forming an open platform structure. The bottom ends of the first symmetrical connecting column group (103) and the second symmetrical connecting column group (104) are connected to the land-based mechanism (2).

3. The amphibious robot for tunnel power inspection according to claim 2 is characterized in that: The land-based mechanism (2) comprises a power wheel (201), a power wheel motor (202), a motor bracket (203), a steering wheel (204) and a steering wheel connecting frame (205); the output end of the power wheel motor (202) is coaxially connected to the power wheel (201) and fixed to the motor bracket (203); the motor bracket (203) is mounted on a first symmetrical connecting column group (103) of the housing assembly (1); the steering wheel (204) is mounted on a second symmetrical connecting column group (104) of the housing assembly (1) via the steering wheel connecting frame (205); wherein the lowest points of all wheels are on the same horizontal plane.

4. The amphibious robot for tunnel power inspection according to claim 2 is characterized in that: The flight mechanism (3) comprises a blade (301), a blade motor (302), a blade fixing gasket (303), an arm (304) and a deformation module (305), wherein the blade motor (302) is mounted at the end of the arm (304), the output end of the blade motor (302) is coaxially connected to the blade (301), the blade fixing gasket (303) is mounted at the end of the blade motor (302), the arm (304) is rotationally connected to the deformation module (305) via a hinge structure, the deformation module (305) is fixedly connected to the shell assembly (1), the arms (304) are orthogonally symmetrically distributed in the unfolded state, the connecting lines of the ends of the four groups of arms (304) form a regular quadrilateral geometric layout, the axes of adjacent arms (304) form a predetermined angle of 90°±5°, and the arms (304) fit the side walls of the shell assembly (1) when folded.

5. The amphibious robot for tunnel power inspection according to claim 4 is characterized in that: The deformation module (305) comprises a deformation motor (305-1), an upper rotating gasket (305-2) and a lower rotating gasket (305-3); the deformation motor (305-1) is fixed at the four corners of the upper shell (101); one end of the lower rotating gasket (305-3) is coaxially connected to the output shaft of the deformation motor (305-1) and the other end is fixedly connected to the machine arm (304); one end of the upper rotating gasket (305-2) is fixedly connected to the upper shell (101) and the other end is coaxially connected to the machine arm (304); wherein the deformation motor (305-1) can drive the machine arm (304) to rotate within a set angle range.

6. The amphibious robot for tunnel power inspection according to claim 5 is characterized in that: The invention also includes a visual detection module (4), a laser radar (5) and a control system. The visual detection module (4) is installed on the top of the upper shell (101) and is located at the center of the top cover (101-1). The laser radar (5) is installed at the center of the lower shell (102). The control system is arranged inside the upper shell (101) and is electrically connected to the visual detection module (4) and the laser radar (5), respectively.

7. The amphibious robot for tunnel power inspection according to claim 6 is characterized in that: The visual detection module (4) comprises a two-degree-of-freedom active image stabilization platform, comprising a platform housing assembly (401), a horizontal motor (402), a pitch motor (403) and a camera module (404), wherein the platform housing assembly (401) comprises a base mounting plate (401-1), a first secondary bracket (401-2), a second secondary bracket (401-3) and a camera support frame (401-4), and the lower end of the base mounting plate (401-1) is fixed to the top cover (101-1). The secondary brackets are fixedly connected, and the upper end is coaxially connected to the output end of the horizontal motor (402); the secondary brackets are placed in a mirror-symmetrical manner, and the main body of the horizontal motor (402) is confined in an adaption cavity formed after the secondary brackets are docked; the output end of the pitch motor (403) is connected to the first secondary bracket (401-2), and the first secondary bracket (401-2) and the second secondary bracket (401-3) are rotationally connected to the camera support frame (401-4); and the camera support frame (401-4) is fixedly connected to the camera.

8. The amphibious robot for tunnel power inspection according to claim 6 is characterized in that: The laser radar (5) comprises a radar rotating head (501), a radar motor (502), a radar bracket (503) and a radar main control box (504), wherein the radar bracket (503) is mounted on the upper part of the lower shell (102), the radar rotating head (501) is rotatably mounted on the top of the radar bracket (503) via a bearing assembly, the radar motor (502) is fixed to the side of the radar bracket (503) and is connected to the radar rotating head (501) via a belt transmission mechanism, and the radar main control box (504) is mounted on the lower part of the lower shell (102).

9. The amphibious robot for tunnel power inspection according to claim 6 is characterized in that: The control system comprises a control module (6) and a power module (7), wherein the control module (6) comprises a motion control unit, a flight control unit and a control mainboard (601), and the power module (7) comprises a battery support plate (701) and a battery (702), wherein the control mainboard (601) is installed inside the upper shell (101), the battery support plate (701) is vertically fixed to the inner bottom wall of the upper shell (101), adjacent to the control mainboard (601), and the battery (702) is detachably installed on the battery support plate (701); the motion control unit comprises a multi-channel motor driver (604), which is installed above the control mainboard (601) and is connected to the control mainboard (601) and the power mainboard (601). The invention relates to a multi-channel motor driver (604) and a multi-channel motor driver (604). The multi-channel motor driver (604) is electrically connected to the wheel motor (202); the flight control unit comprises a flight controller (603), a receiver, an electric adjustment bracket (605) and a four-in-one electric adjustment (602); the flight controller (603) is installed above the multi-channel motor driver (604); the electric adjustment bracket (605) is installed on both sides of the control main board (601); the four-in-one electric adjustment (602) is installed on the electric adjustment bracket (605); wherein the flight controller (603) is connected to the receiver through a serial port interface, and is electrically connected to the four-in-one electric adjustment (602); the four-in-one electric adjustment (602) is electrically connected to the blade motor (302); the flight controller (603) and the motion control unit perform data exchange through bus communication.

10. A method for using the amphibious robot for tunnel power inspection according to claim 9, characterized in that: The following steps are involved: Robot initialization: After the robot is powered on, the program in the control mainboard (601) is started, all motors are locked, and after the receiver and the remote controller are successfully linked, initialization is completed and the robot enters the land mode after initialization; Land mode: The machine arm (304) is folded, the blade motor (302) and the deformation motor (305-1) are locked, and the power wheel motor (202) directly drives the power wheel (201) to rotate, performing forward and backward movement. Through the four-wheel differential drive mode, in conjunction with the steering wheel (204), the robot is controlled to complete the turning movement, and PID control is used to make each power wheel motor (202) reach its desired speed. Airplane Mode: The robot arm (304) is unfolded, the power wheel motor (202) and the deformation motor (305-1) remain locked, and the blade motor (302) drives the blade (301) to rotate. During this process, the wheel gradually leaves the ground and no longer bears the load, and the robot enters the flight mode; Mode switch: When switching between the land mode and the flight mode, the four deformation motors (305-1) rotate 90 degrees in the same direction and rotate simultaneously to avoid interference between parts. The deformation motors (305-1) are controlled by PID to reach their respective desired positions and are locked.

Images