Amphibious exploration robot

Abstract

The present invention relates to the field of robots, and specifically discloses an amphibious exploration robot, comprising a body, a plurality of connecting shafts that can rotate and swing are connected to the bottom surface of the body, and a rotatable blade wheel is connected to the bottom end of each connecting shaft; the blade wheel comprises a rotatable hub, and a plurality of retractable blades are arranged at intervals on the hub. The amphibious exploration and recovery robot has a simple structure and can walk on land and in water at the same time, and has good maneuverability.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to an amphibious exploration robot. Background Art

[0002] A robot is an automated machine. The difference is that it has some intelligent capabilities similar to humans or creatures, such as perception, planning, movement and coordination. It is a highly flexible automated machine. Robots can assist or even replace humans in completing dangerous, heavy and complex tasks, improve work efficiency and quality, serve human life, and expand the scope of human activities and capabilities.

[0003] With the progress of society, people have a further demand for exploring the environment, and amphibious robots have come into being. Because amphibious robots need to take into account both underwater propulsion and land propulsion, two propulsion systems are set up on them, one of which is an underwater propulsion system, such as a propeller propulsion system, and the other is a land propulsion system, such as a wheeled propulsion system or a crawler propulsion system. However, setting these two propulsion systems on the same robot at the same time makes the robot larger in size, complicated in structure, and high in cost. For example, the Chinese patented piggyback underwater robot is composed of a robot back platform, underwater tools, an upper arm, joints, a forearm, a robot body, two crawler walking systems, four vertical thrusters, four horizontal thrusters, four sets of camera and lighting systems distributed in different positions, and a tail towing cable; a protrusion is provided in the middle of the front side of the robot body, on which the upper arm is fixed, the upper arm is equipped with a joint, and the joint is connected to the forearm, wherein the forearm is provided with a connecting palm and a connecting bolt, and the underwater tool is installed by connecting the palm and the connecting bolt; two flanges are provided in front of the robot body, on which the left camera and lighting device are respectively installed , a right camera and lighting device, an upper camera and lighting device is installed on the rear side of the upper part of the robot body, and a rear camera and lighting device is installed on the rear part of the robot body; vertical mounting holes and horizontal mounting holes are opened on the robot body, and 4 vertical thrusters and 4 horizontal thrusters are installed inside; the crawler walking system is composed of a crawler driving wheel, a crawler tensioning wheel, and a crawler guide wheel. The two crawler walking systems are installed on the protruding part of the robot body for laying the crawler track; a rear tail wing is arranged in the center of the rear part of the robot body for fixing the tail tow cable; it can be seen that the pushing system in this patent adopts a crawler walking system with a relatively complex structure. Summary of the invention

[0004] The present invention aims to solve the technical problem of complex robot propulsion structure in the above-mentioned prior art, and to provide an amphibious exploration robot with a simple propulsion structure and capable of walking on land and in water at the same time.

[0005] The amphibious exploration robot described in the present invention includes a body, a plurality of connecting shafts that allow for both rotation and swinging are connected to the bottom surface of the body, and a rotatable blade wheel is connected to the bottom end of each connecting shaft; the blade wheel includes a rotatable hub, and a plurality of retractable blades are arranged at intervals on the hub.

[0006] The amphibious exploration robot described in the present invention, when walking on ordinary land or underwater sand layers, rock layers and other surfaces, the blades on the wheel hub are in a retracted state to form a roller state, which is convenient for fast walking; when walking on a swamp, the blades on the wheel hub are extended to form an expanded state of the blade wheel, and the robot moves forward with the rotation of the blade wheel. When the rear blade contacts the swamp, it will give an upward supporting force to the fuselage body, and at the same time make the front blade leave the swamp, effectively avoiding the blade from sinking too deep and being unable to leave the swamp, ensuring that the robot can safely leave the swamp without sinking; and when the blade wheel is in the expanded state, the overall volume of the blade wheel increases, and after the blade wheel rotates one circle, the robot's forward distance increases, so that the robot can quickly leave the swamp; by providing multiple connecting shafts and arranging blade wheels thereon, the contact area between the robot and the swamp can be increased, which not only ensures the smooth travel of the robot Stability, and can further prevent the robot from sinking in the swamp; in addition, since the connecting shaft connected to the blade wheel can rotate, when the robot encounters an obstacle that cannot be crossed, the connecting shaft can be rotated to drive the blade wheel to change direction, so that the robot can bypass the obstacle and run more flexibly; in addition, since the connecting shaft can swing, when the robot is recovered, the connecting shaft can be swung close to the bottom surface of the fuselage body to reduce the size of the robot, which is convenient for salvage and saves placement space; and when the robot is released into the water or the sea, the connecting shaft is recovered to the bottom surface of the fuselage body to reduce the resistance of the robot to free diving and moving forward, and because the blade wheel can rotate, when the robot reaches the underwater or underwater ground, the blade wheel can rotate to make the robot slide forward when it touches the ground, so as to effectively reduce the direct rigid collision between the robot and the bottom surface, play a certain buffering role, and avoid damage to the robot. It can be seen that the amphibious exploration and recovery robot in the present invention is not only simple in structure, but also can take into account walking in water and on land. The most important thing is that it can also ensure that the robot can travel safely in special environments such as swamps, thereby improving the maneuverability of the amphibious exploration and recovery robot.

[0007] Furthermore, a plurality of cylinders are arranged on the wheel hub at intervals of a circular array, the number of which is the same as the number of blades, and the blades are hinged on the telescopic shafts of the cylinders. The cylinders drive the blades to extend and retract, which makes the structure simpler and convenient for later maintenance; and the blades are hinged on the telescopic shafts of the cylinders. When the blade wheel rotates, as the next blade begins to contact the plane, the plane gives the blades a reverse force, prompting the blades to rotate relative to the telescopic shaft, so that the blades can achieve surface contact with the plane as soon as possible, especially on swamps, to avoid the blade edges being inserted into the swamp and causing a certain amount of sinking, further ensuring that the robot can smoothly and safely drive out of the swamp.

[0008] Furthermore, a garbage recycling bin is provided at the front end of the fuselage body, and a fishing device for putting garbage into the garbage recycling bin is hinged at the bottom of the connecting shaft at the front end of the fuselage body. When the robot encounters garbage during exploration, the fishing device will salvage the garbage and recycle it into the garbage recycling bin to avoid garbage pollution; the fishing device is hinged at the bottom of the connecting shaft and can be folded together with the connecting shaft when it is folded back to the bottom of the fuselage body, making the robot more compact after folding.

[0009] Furthermore, the garbage collection bin includes a sealed bin disposed at the front end of the fuselage body, and an openable bin door is disposed at the opening of the sealed bin. Normally, the bin door is in a closed state, and when garbage needs to be collected, the bin door is opened, and the catching device puts the garbage into the sealed bin, and after the catching device leaves, the bin door is closed again.

[0010] Furthermore, a drainage port connected to the sealed chamber is provided at the bottom of the fuselage body, and a drainage grid plate is provided at the drainage port, and a filter screen is provided on the drainage grid plate, so that the seawater in the sealed chamber can be discharged in time to prevent the seawater from corroding the body, and at the same time, garbage can be prevented from being discharged.

[0011] Furthermore, the drainage grid plate comprises a plate body, a plurality of square drainage holes are arranged at intervals on the plate body, and trapezoidal drainage holes are arranged on both sides of the plurality of square drainage holes, so that more water can be discharged from the trapezoidal drainage holes on both sides.

[0012] Furthermore, a slide rail is provided on the side of the plate body facing the sealed chamber, and two shielding plates are also provided, each shielding plate is provided with a slide groove, and each shielding plate is connected to the plate body through the cooperation of the slide groove and the slide rail. When drainage is required, the two shielding plates slide away in opposite directions to expose the drainage holes on the drainage grille plate so that the water in the sealed chamber can be drained. When drainage is not required, the two shielding plates slide toward each other and abut against each other to isolate the sealed chamber from the drainage grille plate.

[0013] Furthermore, the fishing device is a flexible manipulator, and a rotatable auxiliary impeller is arranged on the arm of the flexible manipulator, and the auxiliary impeller includes an auxiliary hub, and a plurality of auxiliary cylinders are arranged at intervals on the auxiliary hub, and auxiliary blades are hinged on the telescopic shaft of the auxiliary cylinder. By setting up a flexible manipulator, it is convenient to recycle the grabbed garbage into the garbage recycling bin; and by setting up an auxiliary impeller on the arm of the flexible manipulator, when the flexible manipulator does not perform the fishing task, it is in a horizontal straight state, and the joint support of the flexible manipulator and the auxiliary impeller thereon can make the robot move forward more smoothly. At the same time, when encountering a swamp, the joint action of the flexible manipulator, the auxiliary impeller and the blade wheel on the connecting shaft further increases the contact area between the robot and the swamp to ensure safe driving.

[0014] Furthermore, an electromagnetic suction cup and ballast iron cooperating with the electromagnetic suction cup are arranged at the bottom of the fuselage body, and a ballast water tank is also arranged in the fuselage body. The ballast water tank is connected with the sealed chamber of the garbage recovery bin through a pipeline, and an electromagnetic valve is arranged on the pipeline, and a water filling port is also arranged on the ballast water tank. When the robot needs to dive, water is filled into the ballast water tank from the water filling port to increase the overall weight of the robot. When the weight is greater than the buoyancy of the robot, the robot starts to dive until it reaches the plane of the underwater rock layer or sand layer, then the blade wheel can be deployed to walk and start exploration work; when the robot needs to float to a certain height for exploration, the solenoid valve is opened to allow the water in the ballast water tank to flow into the sealed chamber of the garbage recovery bin through the pipeline and be discharged from the drain port. As the ballast water is discharged, the overall weight of the robot is reduced and it will begin to float. When it floats to the specified position, the solenoid valve is closed. At this time, the buoyancy and gravity are balanced, and the robot can float at the specified position for exploration; when the exploration is completed and the robot needs to be recovered, the solenoid valve is opened to discharge all the water in the ballast water tank. At the same time, the electromagnetic suction cup is powered off, and the ballast iron is separated from the robot due to the lack of magnetic force, which greatly reduces the weight of the robot, so that it can float to the water surface. After the robot floats to the water surface, it can be salvaged and recovered by salvage equipment such as AUV robots.

[0015] Furthermore, the body has a flat streamlined structure, which can reduce the resistance of the body when moving in water, reduce the damage of water pressure to the body, and greatly improve the speed of the robot's free diving and moving forward in water through the cooperation of the unique shape of the body and the foldable structure of the connecting shaft.

[0016] Furthermore, an infrared thermal imager is arranged at the front end of the fuselage body. The infrared thermal imager is used to scan the organism, and the scanned organism is uploaded to the control unit.

[0017] Furthermore, a miniature camera is provided at the front end of the fuselage body. When the control unit determines that the creature scanned by the infrared thermal imager is an unknown creature, the miniature camera takes a picture of the unknown creature and uploads it to the control unit, and the control unit sends the received information to the land control platform through the communication unit.

[0018] Furthermore, a pressure sensor is provided on the body of the robot. When the robot is placed in water or in the sea, the water pressure is sensed by the pressure sensor, and when the pressure reaches a preset range, the connecting shaft can drive the blade wheel and the fishing device to unfold to adapt to walking in the water.

[0019] Furthermore, a sonar is provided on the body of the robot. When the infrared thermal imager detects that marine life is approaching the robot, the sonar can emit sound waves to drive it away, thus preventing the marine life from endangering the safety of the robot; the sonar stops emitting sound waves after the marine life leaves, thus avoiding affecting the marine life and damaging the marine ecological environment.

[0020] Furthermore, a positioning system is also provided on the body of the robot. The robot's position is located in real time, and when the micro camera captures an image of an unknown creature in the sea or water, the sea area where the creature lives can be located in time; in addition, the robot's movement trajectory can be planned so that the robot can reach the designated sea area.

[0021] Furthermore, a battery pack for providing power is arranged in the body of the robot, and is electrically connected to various electrical devices through the battery pack to ensure the normal operation of the robot.

[0022] Furthermore, a display screen for displaying the battery pack power is provided on the top of the fuselage body, so as to remind the staff to replace the battery pack in time through the power display.

[0023] Compared with the prior art, the present invention has the following beneficial technical effects:

[0024] 1. The unique structure of the blade wheel ensures that the robot can safely and quickly leave the swamp without sinking; and because the connecting shaft connecting the blade wheel can rotate, when the robot encounters an obstacle that cannot be crossed, the connecting shaft can be rotated to drive the blade wheel to change direction, so that the robot can bypass the obstacle and operate more flexibly; in addition, because the connecting shaft can swing, the blade wheel can be driven to fold to reduce the size of the robot, which is convenient for the salvage and recovery of the robot and saves the placement space. At the same time, by folding the connecting shaft, the resistance of the robot to free diving and moving forward can be reduced; in addition, because the blade wheel can rotate, when the robot reaches the underwater or underwater ground, the blade wheel can be rotated to make the robot slide forward when it touches the ground, so as to effectively reduce the direct rigid collision between the robot and the bottom surface, play a certain buffering role, and avoid damage to the robot; it can be seen that the amphibious exploration and recovery robot in the present invention is not only simple in structure, but also can take into account walking in water and on land. The most important thing is that it can also ensure that the robot can travel safely in special environments such as swamps, thereby improving the maneuverability of the amphibious exploration and recovery robot.

[0025] 2. Through the joint action of the fishing device and the auxiliary impeller thereon and the blade wheel on the coordinated connecting shaft, the contact area between the robot and the swamp is further increased, making the robot move more smoothly and ensuring safe driving.

[0026] 3. The body of the robot is configured to have a flat streamlined structure, which can reduce the resistance of the body when it moves in the water and reduce the damage to the body caused by water pressure. The unique shape of the body and the foldable structure of the connecting shaft can greatly improve the speed of the robot's free diving and moving forward in the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a front view of an embodiment of the present invention.

[0028] Figure 2 It is a side view of an embodiment of the present invention (the impeller and the auxiliary impeller are in an unfolded state).

[0029] Figure 3 It is a side view of an embodiment of the present invention (schematic diagram of the structure of the connecting shaft in the folded state).

[0030] Figure 4 It is a top view of an embodiment of the present invention.

[0031] Figure 5 This is a schematic diagram of the structure of the garbage collection bin in the open state in an embodiment of the present invention.

[0032] Figure 6 It is a rear view of an embodiment of the present invention.

[0033] Figure 7 It is a bottom view of an embodiment of the present invention.

[0034] Figure 8 It is a stereogram of an embodiment of the present invention.

[0035] Fig. 9 Schematic diagram of the drainage grille structure in an embodiment of the present invention.

[0036] Among them, 1. Body; 2. Connecting shaft; 3. Blade wheel; 31. Blade; 4. Mechanical compartment; 5. Rotating shaft; 6. Control unit; 7. Fishing device; 8. Sealed compartment; 9. Compartment door; 10. Drainage grille; 11. Auxiliary impeller; 12. Auxiliary blade; 13. Infrared thermal imager; 14. Miniature camera; 15. Pressure sensor; 16. Sonar; 17. Positioning system; 18. Battery pack; 19. Electromagnetic suction cup; 20. Ballast iron. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the present application will be clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the described embodiments, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. "First", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0039] Embodiment 1

[0040] The present embodiment discloses an amphibious exploration and recovery robot, including a body 1, a plurality of connecting shafts 2 for both rotation and swing are connected to the bottom surface of the body 1, and a rotatable blade wheel 3 is connected to the bottom end of each connecting shaft 2; the blade wheel 3 includes a rotatable hub, and a plurality of retractable blades 31 are arranged on the hub at intervals, such as Figures 1 to 9 shown.

[0041] In the specific implementation process, the fuselage body 1 adopts a flat streamlined structure, especially the front end of the fuselage body 1 adopts a flat streamlined structure to reduce the forward resistance; an open mechanical compartment 4 is provided at the bottom of the fuselage body 1, and four connecting shafts 2 are arranged in a matrix in the mechanical compartment 4. The two connecting shafts 2 located at the front end of the fuselage body 1 and the two connecting shafts 2 located at the rear end of the fuselage body 1 are staggered, so that when the connecting shafts 2 are folded back into the mechanical compartment 4, the front and rear connecting shafts 2 will not interfere with each other, making the structure of the robot in the folded state more compact; a rotating shaft 5 is provided at the bottom of the fuselage body 1, and the connecting shaft 2 is rotatably connected to the rotating shaft 5, and a driving mechanism for driving the connecting shaft 2 to move in a positive direction is provided at the rotating shaft 5. A reversing motor, a rotating shaft 5 is connected to the output shaft of the motor; a motor that drives the connecting shaft 2 forward and reverse is also provided on the rotating shaft 5, and the connecting shaft 2 is connected to the output shaft of the motor; a motor that drives the blade wheel 3 forward and reverse is provided at the bottom end of the connecting shaft 2, and a worm gear is connected to the output shaft of the driving motor, and a worm is also horizontally installed at the bottom end of the connecting shaft 2, and blade wheels 3 are respectively connected to both ends of the worm gear, so that two blade wheels 3 are symmetrically connected to the bottom end of each connecting shaft, so that the robot walks more smoothly; the blade wheel 3 is formed by a hub and a plurality of blades 31. In this embodiment, four blades 31 are used, and four cylinders are connected to the hub in a ring array, and the blades 31 are hinged to the telescopic shafts of the cylinders one by one.

[0042] During operation, when the robot contacts ordinary land or the seabed plane, the motor drives the rotating shaft 5 to rotate, so as to drive the connecting shaft 2 to swing to unfold, and then the driving motor connected to the bottom end of the connecting shaft 2 drives the worm gear to rotate, so as to drive the worm and the blade wheel 3 thereon to rotate synchronously, thereby enabling the robot to walk; when encountering an obstacle, the connecting shaft 2 is driven by the motor to rotate, thereby changing the direction of the blade wheel 3, so that the robot can bypass the obstacle and continue to walk; and when the robot contacts a swamp, the telescopic shaft of the cylinder is extended to make the blade wheel 3 in an unfolded state, so that the robot can walk in the swamp; when in the sea, when the robot dives by its own gravity, its connecting shaft 2 is in a folded state, but the driving motor at the bottom end of the connecting shaft 2 still drives the blade wheel 3 to rotate, ensuring that the robot can slide forward while contacting the plane.

[0043] Embodiment 2

[0044] On the basis of the first embodiment, in this embodiment, a garbage collection bin is provided at the front end of the fuselage body 1, and a fishing device 7 for putting garbage into the garbage collection bin is hinged at the bottom of the connecting shaft 2 located at the front end of the fuselage body 1. Figures 5 to 8 shown.

[0045] In the specific implementation process, a sealed chamber 8 for storing garbage is arranged at the front end of the fuselage body 1, and an openable and closable chamber door 9 is arranged at the opening of the sealed chamber 8. The chamber door 9 can be opened and closed by a cylinder drive, and a drainage port connected to the sealed chamber 8 is arranged at the bottom of the fuselage body 1, and a drainage grid plate 10 is arranged at the drainage port, and a filter screen is arranged on the drainage grid plate 10. Twenty square drainage holes are arranged at intervals on the plate body of the drainage grid plate 10, and trapezoidal drainage holes are arranged on both sides of all the square drainage holes; the plate of the drainage grid plate 10 A slide rail is arranged on the side facing the sealed chamber 8, and also includes two baffles, each of which is provided with a slide groove, and each baffle is connected to the plate body through the cooperation of the slide groove and the slide rail; an electromagnetic suction cup 19 and a ballast iron 20 cooperating with the electromagnetic suction cup 19 are arranged at the bottom of the fuselage body 1, and a ballast water tank is also arranged in the fuselage body 1, and the ballast water tank is connected with the sealed chamber 8 of the garbage recycling bin through a pipeline, and an electromagnetic valve is arranged on the pipeline, and a water filling port is also arranged on the ballast water tank, wherein the electromagnetic suction cup 19 is a prior art.

[0046] During operation, after the fishing device 7 catches the garbage, the cylinder drives the door 9 of the garbage recovery bin to open, and the fishing device 7 puts the garbage into the sealed chamber 8, and then leaves the garbage recovery bin. The cylinder then drives the door 9 to close. At the same time, the water entering the sealed chamber 8 will be discharged from the drainage grille 10. By setting a filter net, the garbage can be prevented from being discharged together, and the seawater can be prevented from corroding the body.

[0047] In addition, when the robot needs to dive, water is filled into the ballast water tank from the water filling port to increase the overall weight of the robot. When the weight is greater than the buoyancy of the robot, the robot begins to dive until it reaches the plane of the underwater rock layer or sand layer, then the blade wheel can be deployed to walk and start exploration work; when the robot needs to float to a certain height for exploration, the solenoid valve is opened to allow the water in the ballast water tank to flow into the sealed chamber of the garbage recovery bin through the pipeline and be discharged from the drain port. As the ballast water is discharged, the overall weight of the robot is reduced and it will begin to float. When it floats to the specified position, the solenoid valve is closed. At this time, the buoyancy and gravity are balanced, and the robot can float at the specified position for exploration; when the exploration is completed and the robot needs to be recovered, the solenoid valve is opened to discharge all the water in the ballast water tank. At the same time, the electromagnetic suction cup is powered off, and the ballast iron is separated from the robot due to the lack of magnetic force, which greatly reduces the weight of the robot, so that it can float to the water surface. After the robot floats to the water surface, it can be salvaged and recovered by salvage equipment such as AUV robots.

[0048] Embodiment 3

[0049] On the basis of Example 2, in this embodiment, the fishing device 7 is a two-claw flexible manipulator, and a rotatable auxiliary impeller 11 is arranged on the arm of the two-claw flexible manipulator. The auxiliary impeller 11 includes an auxiliary hub, and a plurality of auxiliary cylinders are arranged at intervals on the auxiliary hub, and auxiliary blades 12 are hinged on the telescopic shaft of the auxiliary cylinder.

[0050] In the specific implementation process, there are two groups of two-claw flexible manipulators, which are respectively hinged at the bottom ends of the two connecting shafts 2 at the front end. The inner side of the claw wall adopts an anti-slip structure, such as granular protrusions are arranged on the inner side of the claw wall, or a rubber layer is arranged on the inner side of the claw wall, so as to prevent slipping when clamping garbage; two groups of auxiliary impellers 11 are symmetrically arranged on the side wall of the two-claw flexible manipulator, that is, four auxiliary impellers 11 are arranged on the side wall of a two-claw flexible manipulator, and the structure of the auxiliary impeller 11 is the same as that of the blade wheel 3. A fixed shaft is extended from the side wall of the two-claw flexible manipulator, and the auxiliary hub of the auxiliary impeller 11 is connected to the fixed shaft through a rolling bearing, and the power provided by the movement of the blade wheel 3 drives the auxiliary impeller 11 to roll forward.

[0051] During operation, when encountering a swamp, the telescopic shaft of the auxiliary cylinder extends to make the auxiliary impeller 11 unfolded, so that the robot can walk in the swamp; when in the sea, when the robot dives under its own gravity and touches the plane, the auxiliary impeller 11 can roll and drive the robot to slide forward together with the blade wheel 3.

[0052] Embodiment 4

[0053] On the basis of the third embodiment, in this embodiment, an infrared thermal imager 13, a micro camera 14, a pressure sensor 15, a sonar 16, a positioning system 17, a battery pack 18 and a display screen are arranged on the fuselage body 1.

[0054] In the specific implementation process, the infrared thermal imager 13 and the micro camera 14 are arranged at the front end of the fuselage body 1, the pressure sensor 15, the sonar 16, the battery pack 18 and the display screen are arranged at the top of the fuselage body 1, and the positioning system 17 is arranged at the rear end of the fuselage body. At the same time, a control unit 6 is also arranged on the top of the fuselage body 1; the battery pack 18 is respectively connected to the control unit 6, the infrared thermal imager 13, the micro camera 14, the pressure sensor 15, the sonar 16, the positioning system 17, the display screen and the flexible mechanical claws, cylinders, motors, solenoid valves, electromagnetic suction cups and other electrical equipment in the above-mentioned embodiments by electrical signals, and their circuit connection structures are prior art. Those skilled in the art can realize their electrical signal connection according to the disclosed content, and their circuit connection structures are not the inventive points of the present invention; in addition, the control unit 6 is also respectively connected to the infrared thermal imager 13 , micro camera 14, pressure sensor 15, sonar 16, positioning system 17 and the flexible mechanical claws, cylinders, motors and other devices in the above embodiments are connected through control signals. The connection method of establishing control signals is the prior art. Those skilled in the art can realize their control signal connection based on the disclosed content, and their control signal connection method is not the inventive point of the present invention; the positioning system 17 can adopt GPS positioning system, Beidou positioning system, etc. The positioning system can be integrated in a flat shell to adapt to the shape of the fuselage body 1 for easy installation. It belongs to the existing technology available on the market. The control unit 6 can adopt existing technologies such as CPU or single-chip microcomputer, and the control unit 6 can also be connected to the land control platform through a communication unit. The communication unit can be wireless communication or the Internet, etc. The land control platform can be a PC, all of which belong to the prior art.

[0055] When working, the infrared thermal imager 13 scans the robot's surrounding environment in real time and sends the scanning signal to the control unit 6. When encountering garbage such as garbage bags or bottles, the control unit 6 controls the flexible mechanical claw to grab the garbage, and controls the door 9 of the garbage recycling bin to open, controls the flexible mechanical claw to put the garbage into the garbage recycling bin, and then controls the door 9 of the garbage recycling bin to close. When the infrared thermal imager 13 scans unknown creatures, the control unit 6 controls the micro camera 14 to shoot the current environment, and the micro camera 14 sends the captured image or video to the control unit 6. The control unit 6 sends the received image or video back to the land control platform through the communication unit to facilitate the staff's research on unknown creatures. At the same time, the control unit 6 also sends the real-time position feedback from the positioning system 17 The signal is sent back to the land control platform to facilitate the staff to understand the location of the unknown creatures. In addition, when the infrared thermal imager 13 scans that the marine life is approaching the robot, the control unit 6 controls the sonar 16 to emit sound waves to drive the marine life and avoid damaging the fuselage; the pressure sensor 15 senses the pressure of the robot during the dive in the sea, and sends the detection signal to the control unit 6; in addition, after the robot contacts a plane (such as land, swamp or seabed plane, etc.), the control unit 6 controls the motor to run to drive the connecting shaft 2 to unfold, and at the same time, the control unit 6 controls the motor to run to drive the blade wheel 3 to rotate, so that the robot can walk. In addition, when encountering a swamp, the control unit 6 controls the cylinder to extend so that the blade wheel 3 and the auxiliary impeller 11 can be unfolded to adapt to walking in the swamp.

[0056] In the above embodiments, a waterproof coating is coated on the robot to reduce the corrosion of the robot by seawater and extend its service life.

[0057] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An amphibious exploration robot, comprising a body (1), It is characterized in that A plurality of connecting shafts (2) capable of both rotation and swinging are connected to the bottom surface of the fuselage body (1), and a rotatable blade (31) wheel (3) is connected to the bottom end of each connecting shaft (2); the blade (31) wheel (3) comprises a rotatable hub, and a plurality of retractable blades (31) are arranged at intervals on the hub; A garbage collection bin is arranged at the front end of the fuselage body (1), and a catching device (7) for putting garbage into the garbage collection bin is hingedly connected at the bottom of the connecting shaft (2) located at the front end of the fuselage body (1); the garbage collection bin comprises a sealed bin chamber (8) arranged at the front end of the fuselage body (1), and an openable and closable bin door (9) is arranged at the opening of the sealed bin chamber (8); The fishing device (7) is a flexible manipulator, on the arm of which is arranged a rotatable auxiliary impeller (11), the auxiliary impeller (11) comprising an auxiliary hub, on which a plurality of auxiliary cylinders are arranged at intervals, and on which an auxiliary blade (12) is hingedly connected the telescopic shaft of the auxiliary cylinder.

2. The amphibious exploration robot according to claim 1, It is characterized in that A plurality of cylinders whose number matches the number of blades (31) are arranged at intervals in a circular array on the wheel hub, and the blades (31) are hinged on the telescopic shafts of the cylinders.

3. The amphibious exploration robot according to claim 2, It is characterized in that A drainage port communicating with the sealed chamber (8) is arranged at the bottom of the fuselage body (1), a drainage grid plate (10) is arranged at the drainage port, and a filter screen is arranged on the drainage grid plate (10).

4. The amphibious exploration robot according to claim 3, It is characterized in that A slide rail is arranged on the side of the drainage grille plate (10) facing the sealed chamber (8), and the plate also includes two shielding plates, each of which is provided with a slide groove, and each of which is connected to the plate body through the cooperation of the slide groove and the slide rail.

5. The amphibious exploration robot according to any one of claims 1 to 4, It is characterized in that An electromagnetic suction cup (19) and ballast iron (20) cooperating with the electromagnetic suction cup (19) are arranged at the bottom of the fuselage body (1), and a ballast water tank is also arranged inside the fuselage body (1). The ballast water tank is connected to the sealed chamber (8) of the garbage recovery bin through a pipeline, and an electromagnetic valve is arranged on the pipeline. A water injection port is also arranged on the ballast water tank.

6. The amphibious exploration robot according to claim 5, It is characterized in that The fuselage body (1) is a flat streamlined structure.

7. The amphibious exploration robot according to claim 6, It is characterized in that An infrared thermal imager (13) is arranged at the front end of the fuselage body (1); and\or a micro camera (14) is also arranged at the front end of the fuselage body (1); and\or a pressure sensor (15) is arranged on the fuselage body (1); and\or a sonar (16) is arranged on the fuselage body (1); and\or a positioning system (17) is also arranged on the fuselage body (1).

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