A foldable water-air cross-domain multi-modal robot system

Abstract

The application discloses a foldable water-air-crossing multi-modal robot system, which comprises a body, a motion core module, a modal switching module, a rotor module and a propeller module, a waterproof sealed cabin is arranged in the body, the motion core module is installed in the waterproof sealed cabin of the body, the modal switching module is installed above the body, the rotor module is connected with the modal switching module, and the rotor module is unfolded or folded through the modal switching module, and the propeller module is installed below the body. The whole machine has compact structure and high lightweight degree, the task execution capability and operation dimension of the aircraft in a complex environment are significantly improved, and large-scale engineering application and technology popularization are facilitated.

Description

Technical Field

[0001] This invention generally relates to the field of cross-domain multimodal robot technology, and more specifically, to a foldable water-air cross-domain multimodal robot system. Background Technology

[0002] In recent years, with the development of robotics technology, robot systems have been widely used in fields such as waterway inspection, environmental monitoring, and emergency rescue. Traditional robots are usually designed for single working environments and only have single movement capabilities such as air or underwater. When dealing with complex environments such as the water-air interface, manual retrieval or multi-platform collaborative operations are often required, making it difficult to achieve continuous and efficient cross-medium movement. Therefore, robots with cross-domain water and air movement capabilities have gradually attracted attention.

[0003] Existing cross-domain (water and air) robots mostly employ a structure combining a multi-rotor flight platform with an underwater propulsion device, achieving underwater mobility by attaching an underwater thruster to the flight platform. However, these robots generally suffer from increased overall size and less compact configuration after structural integration, leading to a significant increase in underwater drag and affecting underwater propulsion efficiency. Furthermore, multi-rotor flight platforms typically use fixed arm structures, resulting in a large exposed area of ​​the arms and rotors during water entry or underwater movement, making them susceptible to water flow impacts or collisions with obstacles, posing a certain risk of structural damage. In addition, fixed-configuration multi-rotor structures struggle to meet the different structural requirements of flight and underwater movement in underwater conditions, making it difficult to effectively optimize dimensions and stress states without significantly increasing weight and structural complexity. These issues limit the underwater stability, structural reliability, and adaptability to complex aquatic environments of existing cross-domain robots.

[0004] Therefore, there is an urgent need for a structural design scheme for a water-air cross-domain robot that is compact, adjustable in configuration, and can meet the requirements of both aerial flight and underwater movement, so as to improve its adaptability and reliability in different media environments. Summary of the Invention This application provides a foldable water-air cross-domain multimodal robot system to solve the above-mentioned technical problems.

[0005] This application provides a foldable water-air cross-domain multimodal robot system, including: a main body, a motion center module, a modal switching module, a rotor module, and a thruster module. The main body is provided with a waterproof sealed chamber; the motion center module is installed in the waterproof sealed chamber of the main body; the modal switching module is installed on top of the main body; the rotor module is connected to the modal switching module, and the rotor module is deployed or folded through the modal switching module; the thruster module is installed below the main body.

[0006] According to some embodiments of the present invention, the mode switching module includes: a slide rod, a slider, a pull rod, and a crank. The slide rod is vertically disposed above the main body. The slider is movably sleeved on the slide rod. The crank is disposed at the bottom of the slide rod and is driven by a servo motor. The two ends of the pull rod are respectively hinged to the crank and the slider.

[0007] According to some embodiments of the present invention, the rotor module includes an arm, a strut, an air propeller, and a brushless motor. One end of the arm is hinged to the top of the slide bar, and the other end is connected to the brushless motor. The air propeller is mounted on the shaft of the brushless motor. One end of the strut is hinged to the middle of the arm, and the other end is hinged to the slide bar.

[0008] According to some embodiments of the present invention, the rotor module is provided in multiple sets along the circumferential direction.

[0009] According to some embodiments of the present invention, a fairing for enclosing the mode switching module is provided above the main body, and the fairing has an opening corresponding to the rotor module.

[0010] According to some embodiments of the present invention, the waterproof sealed chamber of the main body is composed of an upper chamber cover, a lower chamber cover and a cylindrical tube. Both the upper chamber cover and the lower chamber cover are provided with sealing grooves, and silicone O-rings are embedded in the sealing grooves. The upper chamber cover and the lower chamber cover are disposed on the cylindrical tube to form a waterproof sealed chamber.

[0011] According to some embodiments of the present invention, a depth measurement module is also included, wherein the depth measurement module employs a depth sensor, one end of which is disposed within the waterproof sealed chamber, and the other end penetrates through and protrudes outside the lower cover for measuring the current depth.

[0012] According to some embodiments of the present invention, the propulsion module includes an underwater propeller and a waterproof motor. The underwater propeller is fixedly mounted on the rotating shaft of the waterproof motor, and the rotation of the waterproof motor synchronously drives the underwater propeller to rotate.

[0013] According to some embodiments of the present invention, a bracket is installed around the waterproof sealed chamber of the main body.

[0014] According to some embodiments of the present invention, the motion control module includes: an autopilot, a remote controller receiver, a brushless motor electronic speed controller, a waterproof motor electronic speed controller, a GPS, and a battery; the remote controller receiver is used to receive control commands issued by a remote controller and send the control commands to the autopilot; the autopilot is used for motion control of the robot; the brushless motor electronic speed controller is connected to the brushless motor of the rotor module via a cable; the waterproof motor electronic speed controller is connected to the waterproof motor of the thruster module via a cable; the GPS module is used to acquire the real-time position coordinates of the robot and send the real-time position coordinate information to the autopilot; the battery is used to provide power to the motion control module, the mode switching module, the rotor module, the thruster module, and the depth measurement module.

[0015] As can be seen from the above technical solution, the advantages and positive effects of the foldable water-air cross-domain multimodal robot system of the present invention are as follows: 1. This invention achieves cross-media integration of air flight and underwater navigation, breaking the limitations of single-environment detection and significantly improving the mission execution capability and operational dimensions of the vehicle in complex environments.

[0016] 2. This invention adopts a highly integrated structural design, with a compact and lightweight overall structure; coupled with an intuitive interactive control system, it lowers the operating threshold and has excellent user-friendliness and human-computer interaction convenience.

[0017] 3. While ensuring performance indicators, this invention effectively controls production and R&D costs by optimizing the system architecture, which has significant economic advantages and market competitiveness, and is conducive to large-scale engineering applications and technology popularization.

[0018] 4. The components of this invention are highly standardized, the manufacturing process is mature and the process is simplified, which greatly shortens the cycle from production to delivery and can meet the needs of rapid mass production and agile market response. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a foldable water-air cross-domain multimodal robot system disclosed in an embodiment of this application; Figure 2This is a schematic diagram of the folding rotor module of a foldable water-air cross-domain multimodal robot system disclosed in an embodiment of this application. Figure 3 This is a schematic diagram of the modal switching module and rotor module of a foldable water-air cross-domain multimodal robot system disclosed in an embodiment of this application; Figure 4 This is a control principle diagram of the motion control module of a foldable water-air cross-domain multimodal robot system disclosed in an embodiment of this application.

[0021] Explanation of reference numerals in the attached figures: 1. Main body; 2. Mode switching module; 3. Rotor module; 4. Thruster module; 20. Slide bar; 21. Slider; 22. Pull rod; 23. Crank; 30. Arm; 31. Support rod; 32. Air propeller; 33. Brushless motor; 5. Fairing; 6. Depth sensor; 7. Support frame. Detailed Implementation

[0022] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application. This application can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0023] These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​illustrated in these embodiments should be interpreted as merely exemplary and not as limiting.

[0024] It should be noted that, in the description of this application, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationship, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] Furthermore, the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well.

[0026] It should also be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.

[0027] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0028] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0029] like Figure 1 and Figure 2As shown in the illustration, an embodiment of a foldable, multimodal underwater robot system includes: a main body 1, a motion control module, a modal switching module 2, a rotor module 3, and a thruster module 4. The main body 1 has a waterproof sealed chamber. The motion control module is installed within the waterproof sealed chamber of the main body 1. The modal switching module 2 is installed above the main body 1. The rotor module 3 is connected to the modal switching module 2, and its deployment or folding is achieved through the modal switching module 2. The thruster module 4 is installed below the main body 1. The waterproof sealed chamber protects internal components from water corrosion and ensures the robot's normal operation in an underwater environment. The motion control module coordinates the movements of each component, enabling the robot to flexibly switch between different modes. The modal switching module 2, through precise mechanical structure design, ensures that the rotor module 3 can quickly deploy during flight and fold before entering the water to reduce drag. The rotor module 3 provides lift and maneuverability in the air, while being completely retracted underwater to avoid affecting underwater propulsion efficiency. The thruster module 4 provides stable thrust for the robot's movement in the water through a highly efficient underwater propulsion system, while also having good directional control capabilities to adapt to complex underwater environments.

[0030] like Figure 3 As shown, in some embodiments of the present invention, the mode switching module 2 includes: a slide bar 20, a slider 21, a pull rod 22, and a crank 23. The slide bar 20 is vertically disposed above the main body 1. The slider 21 is movably sleeved on the slide bar 20. The crank 23 is disposed at the bottom of the slide bar 20 and is driven by a servo motor. The two ends of the pull rod 22 are respectively hinged to the crank 23 and the slider 21. The rotor module 3 includes an arm 30, a support rod 31, an aerial propeller 32, and a brushless motor 33. One end of the arm 30 is hinged to the top of the slide bar 20, and the other end is connected to the brushless motor 33. The aerial propeller 32 is mounted on the shaft of the brushless motor 33. One end of the support rod 31 is hinged to the middle of the arm 30, and the other end is hinged to the slider 21. The slide bar 20 provides precise guidance for the up-and-down movement of the slider 21. The slider 21, in conjunction with the slide bar 20, allows the servo-driven crank 23 to rotate, which in turn drives the pull rod 22 to push and pull, thus converting the rotational motion into linear displacement of the slider 21. When the mode switching module 2 is activated, the up-and-down movement of the slider 21 transmits power through the support rod 31, causing the arm 30 to fold or unfold. This not only improves the system's compactness but also ensures the rotor module 3's ability to quickly switch between air and underwater modes.

[0031] like Figure 1As shown, in some embodiments of the present invention, multiple sets of rotor modules 3 are arranged along the circumferential direction. Preferably, four sets are arranged in a centrally symmetrical manner. Each set of rotor modules 3 can operate independently, generating lift by driving the air propeller 32 through the brushless motor 33, thereby achieving flight functionality. The coordinated operation between the sets of rotor modules 3 is uniformly coordinated by the control system to ensure good stability and maneuverability in air mode. In addition, the centrally symmetrical layout of the rotor modules 3 effectively balances the weight distribution of the overall structure, further improving dynamic performance and anti-interference capability during flight.

[0032] like Figure 1 As shown, in some embodiments of the present invention, a fairing 5 for enclosing the mode switching module 2 is disposed above the main body 1, and the fairing 5 has an opening corresponding to the rotor module 3. The design of the fairing 5 not only effectively reduces air resistance but also provides a certain degree of streamline optimization in underwater mode, thereby improving overall motion efficiency. The precise position and size of the opening are rigorously calculated to ensure that the rotor module 3 is not interfered with during operation. In addition, the connection between the fairing 5 and the main body 1 uses high-strength lightweight materials, which ensures both structural stability and the lightweight requirements of the system.

[0033] In some embodiments of the present invention, the waterproof sealed chamber of the main body 1 is composed of an upper cover, a lower cover, and a cylindrical tube. Both the upper and lower covers are provided with sealing grooves, in which silicone O-rings are embedded. The upper and lower covers are disposed on the cylindrical tube to form the waterproof sealed chamber. The connection between the upper and lower covers is secured by silicone O-rings to ensure a tight fit, thereby further improving waterproof performance and preventing liquid from seeping into the chamber. Furthermore, the overall structural design of the waterproof sealed chamber balances lightweight design with strength requirements, providing a reliable guarantee for the stable operation of the robot in cross-domain water and air missions.

[0034] like Figure 1 As shown, in some embodiments of the present invention, a depth measurement module is also included. This module employs a depth sensor 6, one end of which is housed within the waterproof sealed chamber, while the other end penetrates and protrudes outside the lower hatch cover to measure the current depth. The penetrating portion of the depth sensor 6 undergoes special sealing treatment, forming an integrated connection with the lower hatch cover to prevent leakage caused by prolonged immersion or high-pressure environments. The depth sensor 6 is a TE Connectivity MS5837-30BA, which can connect to the autopilot via an I2C interface, enabling the reading of the vehicle's current depth information. The implementation method is mature and reliable, and can be directly used for depth acquisition during underwater navigation.

[0035] like Figure 1As shown, in some embodiments of the present invention, the thruster module 4 includes an underwater propeller and a waterproof motor. The underwater propeller is fixedly mounted on the rotating shaft of the waterproof motor, and the rotation of the waterproof motor synchronously drives the underwater propeller to rotate. The waterproof motor adopts a high-efficiency sealing design to ensure stable operation in the underwater environment for a long time. The underwater propeller adopts a streamlined design, and the blades are precision-machined to provide stable thrust under different water flow conditions, improving the robot's maneuverability and maneuverability.

[0036] like Figure 1 As shown, in some embodiments of the present invention, a support 7 is installed around the waterproof sealed chamber of the main body 1. The support 7 is made of lightweight material, has good corrosion resistance, and can adapt to complex underwater environments. When stationary, the support 7 supports the entire robot and stabilizes the robot's posture, enabling stable takeoff and landing of the robot.

[0037] like Figure 4 As shown, in some embodiments of the present invention, the motion control module includes: an autopilot, a remote control receiver, a brushless motor electronic speed controller, a waterproof motor electronic speed controller, a GPS, and a battery.

[0038] The remote control receiver is used to receive control commands issued by the remote control and send the control commands to the autopilot.

[0039] The autopilot is used for the robot's motion control. The autopilot can be the Holybro Pixhawk 6C Mini, which has a built-in flight control program that can set the initial parameters of the vehicle, including initial attitude calibration, flight mode settings, and standby output parameters of the actuators.

[0040] In this invention, the thruster module 4 and the mode switching module 2 are also controlled through the PWM output interface of the autopilot, sharing the control output channel with the rotor module 3, thereby realizing the drive of the underwater propulsion module and the servo motor.

[0041] The brushless motor electronic speed controller is connected to the brushless motor 33 of the rotor module 3 via a cable.

[0042] The waterproof motor electronic speed controller is connected to the waterproof motor of the thruster module 4 via a cable.

[0043] The GPS module is used to obtain the robot's real-time position coordinates and send the real-time position coordinate information to the autopilot.

[0044] The battery is used to provide power to the motion center module, mode switching module 2, rotor module 3, thruster module 4 and depth measurement module.

[0045] When in use, the working process is as follows: (taking the working cycle of "ground take-off - air flight - water landing - underwater navigation - water take-off - air flight - ground landing" as an example).

[0046] (1) Ground takeoff: After the robot is powered on, the autopilot is in standby mode, waiting for the remote control to issue a command. Move the mode switch joystick on the remote control to set the autopilot to stationary mode, then unlock the rotor module 3, and the four brushless motors 33 enter idle mode. Then slowly and steadily push the throttle lever on the remote control (the throttle lever is usually located on the left hand according to the settings of the remote control). The speed of the four brushless motors 33 will gradually increase. Continue to push the throttle lever upward until the robot successfully takes off and hovers in the air. At this time, keep the throttle lever in a stable position and the robot begins to hover in the air.

[0047] (2) Aerial flight: After the robot takes off, it can be regarded as an ordinary quadcopter drone. The robot can be controlled to fly freely by operating the remote control.

[0048] (3) Water landing: Use the remote control to bring the robot close to the water surface. Use the remote control to stop the four brushless motors 33. Wait for the robot to stabilize on the water surface.

[0049] (4) Underwater navigation: Use the knob on the remote control to control the rotation speed of the thruster module 4 to make the robot navigate underwater. After underwater navigation is completed, continue to remotely control the robot to rise to the surface. Wait for the robot to stabilize at the surface.

[0050] (5) Water surface lift-up: The operation of the robot lifting off the water surface is the same as that of lifting off the ground.

[0051] (6) Air navigation: Same as (2).

[0052] (7) Ground landing: Use the remote control to lower the robot and bring it as close to the ground as possible. Use the remote control to stop the four brushless motors 33.

[0053] The embodiments of this application have now been described in detail. To avoid obscuring the concept of this application, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0054] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any manner.

Claims

1. A foldable water-air cross-domain multimodal robot system, characterized in that, include: The main body (1) is provided with a waterproof and sealed chamber; A motion control module, wherein the motion control module is installed in a waterproof sealed chamber of the main body (1); A mode switching module (2) is installed above the main body (1); Rotor module (3), the rotor module (3) is connected to the mode switching module (2), and the rotor module (3) can be unfolded or folded through the mode switching module (2); Thruster module (4), which is installed below the body (1).

2. The foldable water-air cross-domain multimodal robot system according to claim 1, characterized in that, The mode switching module (2) includes: a slide rod (20), a slider (21), a pull rod (22), and a crank (23). The slide rod (20) is vertically arranged above the main body (1). The slider (21) is movably sleeved on the slide rod (20). The crank (23) is arranged at the bottom of the slide rod (20) and driven by a servo motor. The two ends of the pull rod (22) are respectively hinged to the crank (23) and the slider (21).

3. The foldable water-air cross-domain multimodal robot system according to claim 2, characterized in that, The rotor module (3) includes an arm (30), a strut (31), an air propeller (32), and a brushless motor (33). One end of the arm (30) is hinged to the top of the slide bar (20), and the other end is connected to the brushless motor (33). The air propeller (32) is mounted on the shaft of the brushless motor (33). One end of the strut (31) is hinged to the middle of the arm (30), and the other end is hinged to the slider (21).

4. The foldable water-air cross-domain multimodal robot system according to claim 3, characterized in that, The rotor module (3) is provided with multiple sets along the circumferential direction.

5. The foldable water-air cross-domain multimodal robot system according to claim 4, characterized in that, The main body (1) is provided with a fairing (5) for enclosing the mode switching module (2) on its upper part, and the fairing (5) is provided with an opening corresponding to the rotor module (3).

6. The foldable water-air cross-domain multimodal robot system according to claim 1, characterized in that, The waterproof sealed chamber of the main body (1) is composed of an upper chamber cover, a lower chamber cover and a cylindrical tube. Both the upper chamber cover and the lower chamber cover are provided with sealing grooves, and silicone O-rings are embedded in the sealing grooves. The upper chamber cover and the lower chamber cover are arranged on the cylindrical tube to form a waterproof sealed chamber.

7. The foldable water-air cross-domain multimodal robot system according to claim 6, characterized in that, It also includes a depth measurement module, which uses a depth sensor (6). One end of the depth sensor (6) is located inside the waterproof sealed chamber, and the other end extends through and protrudes outside the lower cover to measure the current depth.

8. The foldable water-air cross-domain multimodal robot system according to claim 1, characterized in that, The propulsion module (4) includes an underwater propeller and a waterproof motor. The underwater propeller is fixedly installed on the rotating shaft of the waterproof motor. The rotation of the waterproof motor synchronously drives the underwater propeller to rotate.

9. The foldable water-air cross-domain multimodal robot system according to claim 1, characterized in that, The waterproof sealed chamber of the main body (1) is surrounded by a bracket (7).

10. The foldable water-air cross-domain multimodal robot system according to any one of claims 1 to 9, characterized in that, The motion control module includes: an autopilot, a remote control receiver, a brushless motor electronic speed controller, a waterproof motor electronic speed controller, a GPS, and a battery; The remote control receiver is used to receive control commands issued by the remote control and send the control commands to the autopilot. The autopilot is used for the robot's motion control; The brushless motor electronic speed controller is connected to the brushless motor (33) of the rotor module (3) via a cable; The waterproof motor electronic speed controller is connected to the waterproof motor of the thruster module (4) via a cable; The GPS module is used to obtain the robot's real-time position coordinates and send the real-time position coordinate information to the autopilot. The battery is used to provide power to the motion center module, mode switching module (2), rotor module (3), thruster module (4) and depth measurement module.

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