Amphibious mother-child spherical robot and operation method thereof

Abstract

The present invention relates to an amphibious mother-and-child spherical robot and its operation method. The amphibious mother-and-child spherical robot includes a housing, a travel control device, a center of gravity control device, a reconnaissance device, a deformation device, and a control system. The control system is used to control the coordinated operation of the drive device, the center of gravity control device, the reconnaissance device, and the deformation device. The advantages of the present invention are: by using multiple robots on a single ship, the overall reconnaissance capability and operating range are improved. The overall structure is compact and lightweight, capable of rapid and stable movement, and has the advantages of high maneuverability, strong concealment, and long endurance.

Description

Technical Field

[0001] The present invention relates to the technical field of spherical robots, and in particular to an amphibious mother-and-child spherical robot and an operating method thereof. Background Art

[0002] Existing reconnaissance systems still have many intelligence gaps. For example, existing optical reconnaissance satellites cannot detect areas with thick cloud cover, complex weather conditions, or dense vegetation or cover. Existing infrared reconnaissance satellites can only detect objects with strong heat sources. Spherical robots, with their efficient maneuverability and excellent camouflage capabilities, can effectively fill the gaps in existing mainstream reconnaissance equipment and effectively enhance the combat capabilities of the integrated sea, land, and air information platform.

[0003] Patent publication number CN115284803A discloses an amphibious spherical robot with adjustable rotor angles and externally operable functions. The robot comprises a housing, a frame, a rotor assembly, and a robotic arm, offering the advantage of being able to operate externally while in motion. While this amphibious spherical robot with adjustable rotor angles and externally operable functions can navigate complex terrain and, when necessary, transform into a drone for obstacle-crossing flight, while also performing certain drone functions, the airflow generated by the rotors during flight flows from top to bottom through the spherical housing, inevitably creating turbulent airflow that interferes with flight and reduces the robot's maneuverability and stability during flight.

[0004] Patent publication number CN113997738A discloses a spherical amphibious robot platform, which includes a shell, a momentum wheel, a momentum wheel drive, a variable inertia adjustment assembly, and a rotor lift assembly. Combining a wheeled and rotor structure, it can handle both high-speed land travel and vertical movement. Although the spherical amphibious robot platform adjusts the placement of the rotors through a clever mechanical layout, optimizes its aerodynamic model, and minimizes the generation of turbulent airflow during flight, effectively improving its maneuverability during flight, its highly integrated, one-piece design invisibly increases the weight of the spherical amphibious robot, which not only increases its cost and maintenance difficulty to a certain extent, but also greatly weakens its endurance, making it unsuitable for applications requiring long-term camouflage, lurking, and intelligence gathering. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide an amphibious mother-and-child spherical robot and its operation method, which improves the overall reconnaissance capability and operating range by using multiple machines on one ship. The overall structure is small in size and light in weight, can move quickly and stably, and has the advantages of high maneuverability, strong concealment, and long endurance.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] An amphibious mother-and-child spherical robot comprises: a shell that can be opened or closed; a walking control device, the walking control device is arranged in the shell and fixedly connected to the shell, the walking control device is used to drive the shell to rotate; a center of gravity control device, the center of gravity control device is arranged on the walking control device, the center of gravity control device is used to cooperate with the walking control device to drive the shell to turn; a reconnaissance device, the reconnaissance device comprises a mother machine reconnaissance device and a child machine reconnaissance device, the mother machine reconnaissance device is arranged on the shell, and the child machine reconnaissance device is arranged in the shell; a deformation device, the deformation device is arranged on the child machine reconnaissance device and is rotatably connected to the shell, the deformation device is used to drive the shell to open and close; a control system is used to control the walking control device, the center of gravity control device, the reconnaissance device and the deformation device to work together.

[0008] Furthermore, the outer shell includes a convex cross shell, a concave cross shell and a central annular shell. Two concave cross shells are provided and are hemispherical. The two concave cross shells are connected through the central annular shell. The opposite recessed parts of the two concave cross shells are provided with a cross groove. The convex cross shell is engaged with the concave cross shell through the cross groove. The convex cross shell, the concave cross shell and the central annular shell form a spherical outer shell. The concave cross shell is formed by connecting two upper shells and lower shells with mutually symmetrical structures. The walking control device is fixedly connected to the inner wall of the central annular shell, and the deformation device is rotatably connected to the upper shell.

[0009] Furthermore, the walking control device includes a first support frame and a walking drive mechanism. The first support frame is arranged in the outer shell and is fixedly connected to the inner wall of the central annular shell through reinforcing ribs. The walking drive mechanism is arranged on both symmetrical sides of the first support frame and fixedly connected to the convex cross shell. The walking drive mechanism includes a second support frame, a DC motor, a spoke wheel, a first connecting plate, a reduction gear, a transmission shaft and an output gear. The second support frame is arranged on the side wall of the first support frame, the DC motor is arranged at the bottom of the first support frame, the spoke wheel is fixed to the inner wall of the convex cross shell, the first connecting plate is arranged on the second support frame, the reduction gear is arranged on the outside of the first support frame, the output shaft of the DC motor passes through the first connecting plate and is connected to the reduction gear, the transmission shaft is rotatably arranged on the first support frame and rotatably connected to the first connecting plate, the transmission shaft extends to the outside of the first support frame and is connected to the spoke wheel, the output gear is arranged on the transmission shaft and meshes with the reduction gear, and the centroid of the spoke wheel, the centroid of the output gear and the centroid of the shell are collinear.

[0010] Furthermore, the center of gravity control device includes a second connecting plate, a first single-axis servo, a counterweight, a third connecting plate and an L-shaped connecting plate. The second connecting plate is fixed to the middle of the side of the first support frame and is located between the two drive devices. The first single-axis servo is arranged on the second connecting plate. The third connecting plate is engaged with the servo gear on the first single-axis servo through the servo flange. The L-shaped connecting plate is arranged on the third connecting plate, and the counterweight is arranged on the L-shaped connecting plate.

[0011] Furthermore, the mother aircraft reconnaissance device includes an infrared sensor and a visual camera, and the infrared sensor and the visual camera are both arranged on the central annular shell.

[0012] Furthermore, a third support frame is provided on the first support frame, and a drone deck is provided on the top of the third support frame. There are multiple sub-machine reconnaissance devices, each of which includes a micro-drone, a drone charging pile and a radio guidance device. The micro-drone is installed on the drone deck through an electromagnetic clip, and the drone charging pile and the radio guidance device are both installed on the drone deck.

[0013] Furthermore, the deformation device includes a connecting rod assembly and a deformation drive mechanism. The deformation drive mechanism is arranged on the deck of the drone. The connecting rod assembly is provided with two groups and the two groups of connecting rod assemblies correspond one-to-one to the two convex cross shells. The connecting rod assembly includes a first connecting rod, a second connecting rod, a third connecting rod, a tension spring and a compression spring. The first connecting rod is fixed to the inner wall of the convex cross shell, one end of the second connecting rod is rotatably connected to the first connecting rod, the middle part of the first connecting rod and the middle part of the second connecting rod are connected by a compression spring, and the compression spring is in a compressed state. One end of the third connecting rod is rotatably connected to an end of the second connecting rod away from the first connecting rod, and the other end of the third connecting rod is rotatably connected to the inner wall of the corresponding upper shell. The two ends of the tension spring are respectively fixedly connected to the second connecting rod and the third connecting rod. The tension spring is in a stretched state, and the deformation drive mechanism is against the second connecting rod.

[0014] Furthermore, the deformation drive mechanism includes a fourth support frame, a second single-axis servo, a transmission gear, a rack and a fourth connecting rod. The fourth support frame is arranged on the drone deck, the second single-axis servo is arranged on the top of the fourth support frame, the transmission gear and the rack are both arranged between the fourth support frame and the drone deck, the transmission gear is rotatably arranged on the fourth support frame, the output shaft of the second single-axis servo is engaged with the internal teeth of the transmission gear, the rack is arranged on both sides of the transmission gear and engages with the external teeth of the transmission gear, the rack is slidably connected to the fourth support frame, and the two racks are provided with a fourth connecting rod, and the two fourth connecting rods are respectively abutted against the two second connecting rods.

[0015] Furthermore, the control system includes a main control board fixed on the central support frame and a power supply, a main controller, a motor drive module, a communication module, a deformation module, a photoelectric conversion module, a voltage-stabilized power supply module, and a servo drive module arranged on the main control board. The main controller is electrically connected to the power supply, the motor drive module, the communication module, the deformation module, the photoelectric conversion module, the voltage-stabilized power supply module and the servo drive module are all electrically connected to the main controller, the motor drive module, the communication module, the deformation module, the photoelectric conversion module and the servo drive module are all electrically connected to the voltage-stabilized power supply module, there are two motor drive modules, the two DC motors are electrically connected to the two motor drive modules respectively, the second single-axis servo is electrically connected to the deformation module, and the first single-axis servo is electrically connected to the servo drive module.

[0016] Based on the specific structure of the above-mentioned amphibious mother-child spherical robot, the present invention also provides an operation method of the amphibious mother-child spherical robot, which includes the following steps:

[0017] S1. Use the walking control device and the center of gravity control device to place the amphibious mother-child spherical robot into the predetermined reconnaissance area, and then activate the transformation device to open the shell.

[0018] S2. Start the mother aircraft reconnaissance device and the slave aircraft reconnaissance device to perform reconnaissance operations.

[0019] S3. The sub-machine reconnaissance device transmits the detected images and information back to the amphibious mother-child spherical robot in real time, and the amphibious mother-child spherical robot then transmits the received information to the remote control terminal.

[0020] S4. The remote control terminal controls the sub-machine reconnaissance device to return to the air above the amphibious mother-child spherical robot, and then the sub-machine reconnaissance device automatically lands in the shell.

[0021] S5. Start the deformation device to close the shell and complete the reconnaissance operation.

[0022] The present invention has the following advantages:

[0023] 1. The amphibious mother-child spherical robot of the present invention can move forward and backward through a walking control mechanism. The center of gravity of the spherical robot can be changed through a center of gravity control device, and then the walking control mechanism can be cooperated to realize steering. At the same time, the center of gravity adjustment can maintain the entire spherical robot in a stable state to prevent the spherical robot from shaking. The drone can then be launched and recovered on non-level ground such as steep slopes, thereby improving the environmental adaptability of the spherical robot.

[0024] 2. The present invention uses a spherical robot to carry one or more drones, and uses the spherical robot as an "aircraft carrier" for launching, recovering, and resupplying drones, thereby realizing the function of one ship with multiple drones. This not only increases the actual operating range of the amphibious mother-child spherical robot, but also has many advantages over traditional deformable flying spherical robots, such as small size, light weight, high maneuverability, strong concealment, and long-lasting endurance.

[0025] 3. The reconnaissance function of the amphibious mother-child spherical robot of the present invention is mainly based on drones and supplemented by spherical robots. When performing reconnaissance operations, it supports the simultaneous launch of multiple drones and the transmission of data information collected by the drone group to the spherical robot with a relay function. The spherical robot then transmits the data information back to the remote operation end. Finally, the remote operation end integrates the data to build a three-dimensional and comprehensive information network system established by the interconnection of the drone group and the spherical robot. Compared with the limitations of the reconnaissance function of traditional spherical robots, the reconnaissance method of the present invention has many advantages such as speed, efficiency, and diversity.

[0026] 4. The amphibious mother-child spherical robot of the present invention has both solar charging function and drone charging function, which not only greatly expands and improves the operating range and operating time of the spherical robot, but also makes it suitable for use in military detection, forest fire monitoring, marine search and rescue, urban firefighting, post-earthquake disaster relief, geological exploration and many other occasions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 Schematic diagram of the top view of the amphibious mother-child spherical robot in the present invention in a deformed state;

[0029] Figure 3 Schematic diagram of the structure of the walking control device and the center of gravity control device in the present invention;

[0030] Figure 4 Schematic diagram of the main structure of the amphibious mother-child spherical robot in the present invention in a deformed state;

[0031] Figure 5 Schematic diagram of the partial structure of the deformation drive mechanism in the present invention;

[0032] Figure 6 It is a structural block diagram of the control system in the present invention;

[0033] Figure 7 Schematic diagram of the operation of the amphibious mother-child spherical robot of the present invention;

[0034] Figure 8 Schematic diagram of the structure of the connecting rod assembly in the present invention.

[0035] Figure: 1. Housing; 11. Convex cross housing; 12. Concave cross housing; 13. Central annular housing; 2. Travel control device; 21. First support frame; 22. DC motor; 23. Reduction gear; 24. Second support frame; 25. First connecting piece; 26. Output gear; 27. Spoke wheel; 3. Center of gravity control device; 31. Second connecting piece; 32. First single-axis servo; 33. Counterweight; 34. Third connecting piece; 35. L-shaped connecting piece; 4. Reconnaissance Device; 41. Infrared sensor; 42. Visual camera; 43. Third support frame; 44. UAV deck; 45. Micro UAV; 46. Electromagnetic buckle; 47. UAV charging pile; 48. Radio guidance device; 5. Deformation device; 51. First connecting rod; 52. Second connecting rod; 53. Third connecting rod; 54. Fourth connecting rod; 55. Second single-axis servo; 56. Transmission gear; 57. Rack; 58. Fourth support frame; 59. Tension spring; 60. Compression spring. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0037] like Figure 1-8 The figure shows an amphibious mother-and-child spherical robot, comprising a housing 1, a travel control device 2, a center of gravity control device 3, a reconnaissance device 4, a deformation device 5, and a control system. The housing 1 can be opened or closed; the travel control device 2 is located within and fixedly connected to the housing 1, driving the housing 1 to rotate; the center of gravity control device 3 is located on the travel control device 2, cooperating with the travel control device 2 to drive the housing 1 to steer; the reconnaissance device 4 comprises a mother reconnaissance device and a daughter reconnaissance device. The mother reconnaissance device is located on the housing 1, while the daughter reconnaissance device is located within the housing 1, and the mother and daughter reconnaissance devices work together to perform reconnaissance operations; the deformation device 5 is located on the daughter reconnaissance device and rotatably connected to the housing 1, driving the housing 1 to open and close; and the control system ensures that the travel control device 2, the center of gravity control device 3, the reconnaissance device 4, and the deformation device 5 operate in coordination.

[0038] Specifically, such as Figure 1 As shown, the housing 1 includes a convex cross shell 11, a concave cross shell 12 and a central annular shell 13. Two concave cross shells 12 are provided and are hemispherical. The two concave cross shells 12 are docked in a snap-fit manner through the central annular shell 13. The opposite recessed portions of the two concave cross shells 12 are provided with a cross groove. The convex cross shell 11 is snap-fitted with the concave cross shell 12 through the cross groove. The convex cross shell 11, the concave cross shell 12 and the central annular shell 13 form a spherical shell. The concave cross shell 12 is formed by snap-fitting and docking two upper and lower shells with mutually symmetrical structures. The walking control device is fixedly connected to the inner wall of the central annular shell 13, and the deformation device 5 is rotatably connected to the upper shell.

[0039] like Figure 2 、 3As shown, in order to realize the walking function of the amphibious mother-child spherical robot, the walking control device 2 includes a first support frame 21 and a walking drive mechanism, wherein the first support frame 21 is arranged in the outer shell 1 and is fixedly connected to the inner wall of the central annular shell 13 through reinforcing ribs, and the walking drive mechanism is arranged on both sides symmetrically of the first support frame 21 and is fixedly connected to the convex cross shell 11. The walking drive mechanism includes a second support frame 24, a DC motor 22, a spoke wheel 27, a first connecting piece 25, a reduction gear 23, a transmission shaft and an output gear 26, wherein the second support frame 24 is fixed to the side wall of the first support frame 21, the DC motor 22 is installed at the bottom of the first support frame 21, the spoke wheel 27 is fixed to the inner wall of the convex cross shell 11, the first connecting piece 25 is fixed to the second support frame 24, the reduction gear 23 is arranged on the outside of the first support frame 21, the output shaft of the DC motor 22 passes through the first connecting piece 25 and is connected to the reduction gear 23, the transmission shaft is rotatably mounted on the first support frame 21 through connecting parts such as bearings and is rotatably connected to the first connecting piece 25, the transmission shaft extends to the outside of the first support frame 21 and is fixedly connected to the spoke wheel 27, and the output gear 26 is mounted on the transmission shaft and meshes with the reduction gear 23.

[0040] The DC motor 22 drives the reduction gear 23, which in turn drives the output gear 26. The output gear 26 then drives the spoke wheel 27 via the transmission shaft, which in turn drives the housing to rotate, ultimately enabling the amphibious mother-and-child spherical robot to move forward or backward. To ensure the robot's walking stability, the centroids of the spoke wheel 27, the output gear 26, and the housing are preferably collinear.

[0041] like Figure 3 As shown, in order to enable the amphibious mother-child spherical robot to turn during walking, the center of gravity control device 3 includes a second connecting piece 31, a first uniaxial servo 32, a counterweight 33, a third connecting piece 34 and an L-shaped connecting piece 35, wherein the second connecting piece 31 is fixed to the middle of the side of the first support frame 21 and is located between the two drive devices, the first uniaxial servo 32 is installed on the second connecting piece 31, the third connecting piece 34 is engaged with the servo gear on the first uniaxial servo 32 through the servo flange, the L-shaped connecting piece 35 is fixed on the third connecting piece 34, and the counterweight 33 is fixed on the L-shaped connecting piece 35.

[0042] The first uniaxial servo 32 drives the third connecting piece 34 to rotate, thereby driving the L-shaped connecting piece 35 and the counterweight 33 to rotate simultaneously. Specifically, based on the perspective of the figure, the counterweight 33 rotates and swings toward its left and right spokes 27. In this way, when the spherical robot needs to turn during walking, the first uniaxial servo 32 drives the counterweight 33 to swing toward the left spoke 27, thereby shifting the center of gravity of the spherical robot to the left. In combination with the curvature of the outer shell 1, this allows the spherical robot to turn leftward with its center of gravity as the center of rotation. Similarly, the first uniaxial servo 32 drives the counterweight 33 to swing toward the right spoke 27, thereby shifting the center of gravity of the spherical robot to the right. In combination with the curvature of the outer shell 1, this allows the spherical robot to turn rightward with its center of gravity as the center of rotation.

[0043] like Figure 2 、 3 As shown in Figures 4 and 5, to enable the amphibious mother-child spherical robot to possess comprehensive reconnaissance capabilities, the mother robot's reconnaissance device includes an infrared sensor 41 and a visual camera 42, both mounted on the central annular housing 13. A third support frame 43 is fixed to the first support frame 21, with a drone deck 44 fixed on top. Multiple daughter robot reconnaissance devices are provided, each including a micro drone 45, a drone charging station 47, and a radio guidance device 48. Electromagnetic clips 46 corresponding to the daughter robot reconnaissance devices are mounted on the drone deck 44, allowing the micro drone 45 to be fixed to the drone deck 44 via the corresponding electromagnetic clips 46. The drone charging station 47 and the radio guidance device 48 are also mounted on the drone deck 44.

[0044] During reconnaissance, the electromagnetic buckle 46 releases the micro-drone 45, allowing it to take off for long-range reconnaissance. The infrared sensor 41 and the visual camera 42 can then conduct reconnaissance around the spherical robot, thereby achieving comprehensive reconnaissance both near and far. After completing its reconnaissance, the micro-drone 45 returns to the top of the spherical robot. The radio guidance device 48 then provides precise location guidance to the micro-drone 45 via radio, allowing the micro-drone 45 to land smoothly and accurately at the corresponding electromagnetic buckle 46. The electromagnetic buckle 46 then locks the micro-drone 45. After landing, the micro-drone 45 can be wirelessly charged via the drone charging station 47, thereby improving the endurance of the micro-drone 45.

[0045] like Figure 2 、 4As shown in Figures 5 and 8, in order to facilitate the amphibious mother-child spherical robot to launch and recover the micro-UAV 45, the deformation device 5 includes a connecting rod assembly and a deformation drive mechanism, wherein the deformation drive mechanism is arranged on the UAV deck 44, and there are two groups of connecting rod assemblies, and the two groups of connecting rod assemblies correspond one to one to the two convex cross shells 11. The deformation drive mechanism drives the upper shell to rotate through the connecting rod assembly, thereby opening or closing the shell 1. Specifically, the connecting rod assembly includes a first connecting rod 51, a second connecting rod 52, a third connecting rod 53, a tension spring 59 and a compression spring 60, wherein the first connecting rod 51 is fixed to the inner wall of the convex cross shell 11, one end of the second connecting rod 52 is rotatably connected to the first connecting rod 51 by a hinge or the like, the middle part of the first connecting rod 51 and the middle part of the second connecting rod 52 are connected by a compression spring 60, and the compression spring 60 is in a compressed state, one end of the third connecting rod 53 is rotatably connected to the end of the second connecting rod 52 away from the first connecting rod 51 by a hinge or the like, and the other end of the third connecting rod 53 is rotatably connected to the inner wall of the corresponding upper shell by a hinge or the like, the two ends of the tension spring 59 are fixedly connected to the second connecting rod 52 and the third connecting rod 53 respectively, and the tension spring 59 is in a stretched state; the deformation driving mechanism includes a fourth support frame 58, a second uniaxial servo 55, a transmission gear 56, a rack 57 and a fourth connecting rod 54, wherein the fourth support frame 58 Fixed on the drone deck 44, the second single-axis servo 55 is installed on the top of the fourth support frame 58, the transmission gear 56 and the rack 57 are both provided between the fourth support frame 58 and the drone deck 44, the transmission gear 56 is rotatably installed on the fourth support frame 58, the output shaft of the second single-axis servo 55 is engaged with the internal teeth of the transmission gear 56, the rack 57 is provided on both sides of the transmission gear 56 and engages with the external teeth of the transmission gear 56, and the rack 57 is installed in the inner groove of the fourth support frame 58 as shown in the figure, so that the rack 57 is slidably connected to the fourth support frame 58, and the transmission gear 56 is driven to rotate by the second single-axis servo 55, thereby driving the two racks 57 to move toward or away from each other along the inner groove of the fourth support frame 58, and a fourth connecting rod 54 is fixed on the two racks 57. When the two racks 57 move away from each other, they can drive the two fourth connecting rods 54 to abut against the two second connecting rods 52 respectively.

[0046] In the initial state, the shell 1 is closed. When the micro drone 45 needs to be launched for reconnaissance operations, the second single-axis servo 55 drives the two fourth connecting rods 54 to move in opposite directions through the two racks 57, and then the fourth connecting rod 54 is abutted against the second connecting rod 52 and drives the second connecting rod 52 to rotate. When the second connecting rod 52 rotates, the compression spring 60 is further compressed. At the same time, the second connecting rod 52 pushes the upper shell and the convex cross shell, the central annular shell, and the lower shell to gradually separate through the third connecting rod 53. After separation, the tension spring 59 can contract and drive the third connecting rod 53 to rotate, thereby enabling the upper shell to rotate and open the shell 1. After the shell 1 is opened, it can be opened as shown in the figure. Figure 7As shown, the micro drone 45 is released; when the outer shell 1 needs to be closed, the second uniaxial servo 55 drives the two fourth connecting rods 54 to move toward each other through the two racks 57. Under the action of the restoring force of the compression spring 60, the second connecting rod 52 rotates and pulls the upper shell and the convex cross shell, the central annular shell, and the lower shell to gradually engage through the third connecting rod 53, thereby closing the outer shell 1. The tension spring 59 returns to its initial stretched state after the upper shell is engaged.

[0047] In order to realize the coordinated operation of the control drive device, the center of gravity control device 3, the reconnaissance device 4 and the deformation device 5, the control system includes a main control board fixed on the central support frame and a power supply, a main controller, a motor drive module, a vision module, a communication module, a deformation module and a servo drive module installed on the main control board. The main controller is electrically connected to the power supply, and the motor drive module, the vision module, the communication module, the deformation module and the servo drive module are all electrically connected to the main controller. There are two motor drive modules, and the two DC motors 22 are electrically connected to the two motor drive modules respectively. The main controller drives the DC motors 22 through the motor drive modules to realize the walking drive of the spherical robot; the second single-axis servo 55 is electrically connected to the deformation module, and the main controller drives the second single-axis servo 55 through the deformation module to realize the deformation drive of the spherical robot; the first single-axis servo 32 is electrically connected to the servo drive module, and the main controller drives the first single-axis servo 32 through the servo drive module to realize the steering drive of the spherical robot; the infrared sensor 41 and the visual camera 42 are both directly electrically connected to the main controller, and are directly controlled by the main controller; the communication module uses wireless communication technology to communicate with the micro drone 45, and the micro drone 45 can transmit the detected information to the communication module, and the controller then controls the communication module to send the information to the remote control end. The motor drive module and the servo drive module form a drive module and are controlled by the main controller. The infrared sensor 41 and the visual camera 42 form a main visual module. The drone can be equipped with reconnaissance equipment such as cameras to form an auxiliary visual module. The main visual module and the auxiliary visual module form a visual module and are controlled by the main controller, and finally form a Figure 6 The control system structure block diagram is shown.

[0048] In order to provide stable voltage to each device, the control system also includes a voltage stabilizing module installed on the main control board and electrically connected to the main controller. The motor drive module, communication module, deformation module and servo drive module are all electrically connected to the voltage stabilizing power supply module, and the voltage stabilizing power supply module outputs a stable voltage.

[0049] In order to further improve the overall endurance of the amphibious mother-child spherical robot, the control system also includes a photoelectric conversion module that is electrically connected to the main controller and the voltage-stabilized power supply module. In order to cooperate with the photoelectric conversion module, the outer shell 1 is preferably made of a composite of photovoltaic materials and carbon fiber, so that the shell can absorb solar energy and convert it into electrical energy through the photoelectric conversion module while being lightweight and high-strength, thereby charging the power supply.

[0050] When using the above-mentioned amphibious mother-child spherical robot, the following steps are included:

[0051] S1. The amphibious mother-child spherical robot is placed into a predetermined reconnaissance area through the walking control device 2 and the center of gravity control device 3, and then the deformation device 5 is activated to open the shell 1.

[0052] S2. Start the mother aircraft reconnaissance device and the slave aircraft reconnaissance device to perform reconnaissance operations.

[0053] S3. The sub-machine reconnaissance device transmits the detected images and information back to the amphibious mother-child spherical robot in real time, and the amphibious mother-child spherical robot then transmits the received information to the remote control terminal.

[0054] S4. The remote control terminal controls the sub-machine reconnaissance device to return to the air above the amphibious mother-child spherical robot, and then the sub-machine reconnaissance device automatically lands in the shell 1.

[0055] S5, start the deformation device 5 to close the shell 1, and complete the reconnaissance operation.

[0056] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An amphibious spherical robot, characterized in that: include: A housing (1), wherein the housing (1) can be opened or closed; A walking control device (2), the walking control device (2) is arranged in the housing (1) and fixedly connected to the housing (1), and the walking control device (2) is used to drive the housing (1) to rotate; A center of gravity control device (3), the center of gravity control device (3) is arranged on the travel control device (2), and the center of gravity control device (3) is used to cooperate with the travel control device (2) to drive the housing (1) to turn; A reconnaissance device (4), comprising a mother-machine reconnaissance device and a daughter-machine reconnaissance device, wherein the mother-machine reconnaissance device is arranged on the housing (1) and the daughter-machine reconnaissance device is arranged inside the housing (1); A deformation device (5), the deformation device (5) is provided on the sub-machine reconnaissance device and is rotatably connected to the housing (1), and the deformation device (5) is used to drive the housing (1) to open and close; A control system, the control system is used to control the coordinated operation of the walking control device (2), the center of gravity control device (3), the reconnaissance device (4) and the deformation device (5); The housing (1) comprises a convex cross housing (11), a concave cross housing (12) and a central annular housing (13). The concave cross housing (12) is provided with two and is hemispherical. The two concave cross housings (12) are butt-jointed through the central annular housing (13). The opposite recessed portions of the two concave cross housings (12) are provided with a cross groove. The convex cross housing (11) is engaged with the concave cross housing (12) through the cross groove. The convex cross housing (11), the concave cross housing (12) and the central annular housing (13) form a spherical housing. The concave cross housing (12) is formed by butt-jointing two upper and lower housings with mutually symmetrical structures. The travel control device is fixedly connected to the inner wall of the central annular housing (13). The deformation device (5) is rotatably connected to the upper housing. The walking control device (2) comprises a first support frame (21) and a walking drive mechanism. The first support frame (21) is arranged in the housing (1) and is fixedly connected to the inner wall of the central annular shell (13) through reinforcing ribs. The walking drive mechanism is arranged on two symmetrical sides of the first support frame (21) and is fixedly connected to the convex cross shell (11). The walking drive mechanism comprises a second support frame (24), a DC motor (22), a spoke wheel (27), a first connecting piece (25), a reduction gear (23), a transmission shaft and an output gear (26). The second support frame (24) is arranged on the side wall of the first support frame (21), and the DC motor (22) is arranged on the bottom of the first support frame (21). The spoke wheel (27) is fixed to the inner wall of the convex cross shell (11), the first connecting piece (25) is arranged on the second support frame (24), the reduction gear (23) is arranged on the outside of the first support frame (21), the output shaft of the DC motor (22) passes through the first connecting piece (25) and is connected to the reduction gear (23), the transmission shaft is rotatably arranged on the first support frame (21) and is rotatably connected to the first connecting piece (25), the transmission shaft extends to the outside of the first support frame (21) and is connected to the spoke wheel (27), the output gear (26) is arranged on the transmission shaft and meshes with the reduction gear (23), and the centroid of the spoke wheel (27), the centroid of the output gear (26) and the centroid of the shell are collinear; The mother aircraft reconnaissance device comprises an infrared sensor (41) and a visual camera (42), and both the infrared sensor (41) and the visual camera (42) are arranged on a central annular shell (13).

2. The amphibious spherical robot according to claim 1, characterized in that: The center of gravity control device (3) comprises a second connecting piece (31), a first single-axis steering gear (32), a counterweight (33), a third connecting piece (34) and an L-shaped connecting piece (35). The second connecting piece (31) is fixed to the middle of the side of the first support frame (21) and is located between the two drive devices. The first single-axis steering gear (32) is arranged on the second connecting piece (31). The third connecting piece (34) is meshed with the steering gear on the first single-axis steering gear (32) through a steering gear flange. The L-shaped connecting piece (35) is arranged on the third connecting piece (34). The counterweight (33) is arranged on the L-shaped connecting piece (35).

3. The amphibious spherical robot according to claim 1, characterized in that: A third support frame (43) is provided on the first support frame (21), a drone deck (44) is provided on the top of the third support frame (43), a plurality of sub-machine reconnaissance devices are provided, each sub-machine reconnaissance device includes a micro drone (45), a drone charging pile (47) and a radio guidance device (48), the micro drone (45) is provided on the drone deck (44) through an electromagnetic buckle (46), and the drone charging pile (47) and the radio guidance device (48) are both provided on the drone deck (44).

4. The amphibious spherical robot according to claim 3, characterized in that: The deformation device (5) includes a connecting rod assembly and a deformation driving mechanism. The deformation driving mechanism is arranged on the UAV deck (44). The connecting rod assembly is provided with two groups, and the two groups of connecting rod assemblies correspond to the two convex cross shells (11) one by one. The connecting rod assembly includes a first connecting rod (51), a second connecting rod (52), a third connecting rod (53), a tension spring (59) and a compression spring (60). The first connecting rod (51) is fixed to the inner wall of the convex cross shell (11). One end of the second connecting rod (52) is rotatably connected to the first connecting rod (51). The middle part of the rod (51) and the middle part of the second connecting rod (52) are connected by a compression spring (60), and the compression spring (60) is in a compressed state. One end of the third connecting rod (53) is rotatably connected to one end of the second connecting rod (52) away from the first connecting rod (51), and the other end of the third connecting rod (53) is rotatably connected to the inner wall of the corresponding upper shell. The two ends of the tension spring (59) are fixedly connected to the second connecting rod (52) and the third connecting rod (53) respectively. The tension spring (59) is in a stretched state, and the deformation driving mechanism is against the second connecting rod (52).

5. The amphibious spherical robot according to claim 4, characterized in that: The deformation driving mechanism comprises a fourth support frame (58), a second single-axis steering gear (55), a transmission gear (56), a rack (57) and a fourth connecting rod (54). The fourth support frame (58) is arranged on the UAV deck (44). The second single-axis steering gear (55) is arranged on the top of the fourth support frame (58). The transmission gear (56) and the rack (57) are both arranged between the fourth support frame (58) and the UAV deck (44). The transmission gear (56) is rotatably arranged on the fourth support frame (58). The output shaft of the second single-axis steering gear (55) is engaged with the internal teeth of the transmission gear (56). The rack (57) is arranged on both sides of the transmission gear (56) and is engaged with the external teeth of the transmission gear (56). The rack (57) is slidably connected to the fourth support frame (58). The two racks (57) are each provided with a fourth connecting rod (54). The two fourth connecting rods (54) are respectively in contact with the two second connecting rods (52).

6. The amphibious spherical robot according to claim 1, characterized in that: The control system includes a main control board fixed on a central support frame and a power supply, a main controller, a motor drive module, a communication module, a deformation module, a photoelectric conversion module, a voltage-stabilized power supply module, and a steering gear drive module arranged on the main control board. The main controller is electrically connected to the power supply. The motor drive module, the communication module, the deformation module, the photoelectric conversion module, the voltage-stabilized power supply module, and the steering gear drive module are all electrically connected to the main controller. The motor drive module, the communication module, the deformation module, the photoelectric conversion module, and the steering gear drive module are all electrically connected to the voltage-stabilized power supply module. Two motor drive modules are provided. Two DC motors (22) are electrically connected to the two motor drive modules respectively. The second single-axis steering gear (55) is electrically connected to the deformation module. The first single-axis steering gear (32) is electrically connected to the steering gear drive module.

7. An operating method of the amphibious mother-child spherical robot according to claim 1, characterized in that: The following steps are involved: S1, placing the amphibious mother-child spherical robot into a predetermined reconnaissance area through the walking control device (2) and the center of gravity control device (3), and then activating the transformation device (5) to open the shell (1); S2, start the main aircraft reconnaissance device (4) and the sub-aircraft reconnaissance device (4) to perform reconnaissance operations; S3, the sub-machine reconnaissance device (4) transmits the detected images and information back to the amphibious mother-child spherical robot in real time, and the amphibious mother-child spherical robot then transmits the received information to the remote control terminal; S4, the remote control terminal controls the sub-machine reconnaissance device (4) to return to the air above the amphibious mother-child spherical robot, and then the sub-machine reconnaissance device (4) automatically descends into the housing (1); S5, start the deformation device (5) to close the shell (1), and complete the reconnaissance operation.

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