Amphibious robot, control method and application

Abstract

The application discloses an amphibious robot, a control method and application, and belongs to the technical field of special robots; the amphibious robot comprises a body, a motion mechanism and a control unit; the motion mechanism comprises a plurality of wheel-paddle mechanisms and wheel-paddle drives; the wheel-paddle mechanism is provided with a rotating wheel and a paddle; the application realizes the motion of the robot in two environments; the wheel-paddle mechanism designed in some embodiments can realize the obstacle-crossing function of the robot; the wheel-paddle mechanism in the application adopts wheel-paddle coupling design, realizes the omnidirectional motion of the robot in three-dimensional directions on land and underwater under the condition of four motor drives; the upper and lower air bags of the robot can realize depth control under any gait of the robot; the wheel-paddle mechanism in the application is designed based on the bionics principle, the inspiration comes from fish swimming, the paddle is similar to a tail fin, the paddle motion simulates the tail fin of a fish, has a motion posture similar to that of fish in water, and has excellent underwater motion capability.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an amphibious robot, its control method, and its applications. Background Technology

[0002] In recent years, the transition zone between ocean and land has increasingly attracted attention from scientific research, environmental monitoring, military exploration, and seabed resource surveying and development, thus driving the development of amphibious robot technology. Researching amphibious robots that can adapt to the varied terrain of land and nearshore mudflats and possess high mobility is of great significance for marine resource exploration, disaster relief, and national security. Amphibious robots can be classified according to their propulsion methods into legged propulsion amphibious robots, wheel-leg / fin hybrid propulsion amphibious robots, snake-like propulsion amphibious robots, and spherical amphibious robots, among others.

[0003] Common wheeled-legged amphibious robots typically use wheels or C-legs for propulsion on land. In water, they transform or replace their wheels and legs to become flatbed propellers or propellers for propulsion. However, switching between water and land movement requires manual replacement of the propulsion mechanism, lacking the ability to autonomously switch locomotion modes between the two, thus limiting their adaptability. Achieving multi-gait movement with this approach requires numerous actuators and involves complex control. Summary of the Invention

[0004] To address the shortcomings of current amphibious robots, such as complex structure, inconvenient control, unsatisfactory flexibility and adaptability, and limited application scenarios, this invention proposes an amphibious robot, its control method, and its application.

[0005] The technical solution adopted in this invention is,

[0006] An amphibious robot includes a body, a motion mechanism, and a control unit;

[0007] The motion mechanism includes several propeller mechanisms and propeller drives; the propeller mechanism has a rotor and fins; under the control of the control unit, the propeller mechanism has at least two motion states, including a rolling state and a reciprocating oscillating state; in the rolling state, the body can move in a wheel-like manner by relying on the rotor in the propeller mechanism; in the reciprocating oscillating state, the body can move in the water by relying on the fins in the propeller mechanism to obtain thrust in a paddle-like manner.

[0008] Preferably, the propeller mechanism includes a hub, a rotor, and at least one web.

[0009] The hub has at least one notch, and the notch of the hub has at least one connecting part, on which the web is mounted;

[0010] The wheel is ring-shaped and fits onto the outside of the hub, and has a notch that matches the hub; the outside of the wheel has wheel treads or tooth protrusions.

[0011] Preferably, the outer end of the web extends beyond the hub and the outer side of the wheel, and the web is arranged radially along the wheel.

[0012] With the webs protruding from the rotor, the propeller mechanism has a certain obstacle-crossing function thanks to the protruding webs.

[0013] Preferably, the propeller mechanism has four components, which are divided into two groups and installed on both sides of the front and rear ends of the machine body, respectively.

[0014] The propeller mechanism is at a 45° angle to the fuselage and is symmetrically arranged along the longitudinal and transverse sides of the fuselage;

[0015] The two propeller mechanisms at the front and rear ends of the fuselage are in an open state on the outside of the fuselage.

[0016] Preferably, it also includes an airbag unit, which is configured on the body and can adjust the airbag volume to adjust buoyancy.

[0017] Preferably, the propeller drive includes four motors, each connected to the axle of the hub in the corresponding propeller mechanism, and the motors can drive the hub to rotate or oscillate back and forth.

[0018] Preferably, the body has a sealed chamber, and the control unit and power supply are built into the sealed chamber. In some embodiments, the control unit adopts the CPG control method, which enables the body to perform smooth gait switching, while the body is equipped with an IMU for real-time posture detection, forming a closed-loop control.

[0019] Preferably, the airbag unit includes an airbag shell, an airbag, and an adjusting component; the upper and lower sides of the body each have an airbag shell, and two airbags are provided, which are respectively installed inside the upper and lower airbag shells. The airbags are installed inside the airbag shells; there are several small holes on the airbag shells; the adjusting component is connected to the airbag to adjust the volume of the airbag.

[0020] This invention further provides a control method for the aforementioned amphibious robot, comprising: on land, controlling the propeller mechanism to be in a rolling state because the propeller mechanism is at a 45° angle to the body; the motion mechanism of the body adopts a four-wheel drive control mode, and the driving force is obtained by controlling four motors to rotate forward, reverse and / or wheel speed deviation to execute land walking actions, which include forward, backward, yaw, lateral movement and stationary rotation; when the body is in the corresponding posture, rolling and forward pitch coupling can be performed in conjunction with the action;

[0021] In the water, because the propeller mechanism is at a 45° angle to the body, the propeller mechanism is controlled to be in a reciprocating swing state; the motion mechanism of the body adopts a 4-propeller drive control method, which controls 4 motors to swing the fins and water respectively, and controls the airbag to adjust the volume to obtain driving force to perform swimming movements in the water; the swimming movements in the water include three-dimensional movement movements in the water and constant depth hovering movements.

[0022] This invention further proposes the above-mentioned amphibious robot for application in scientific research, environmental monitoring, military exploration, and seabed resource exploration and development.

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

[0024] This invention enables the robot to move in two environments; in some embodiments, the designed propeller mechanism can enable the robot to overcome obstacles; the propeller mechanism in this invention adopts a propeller coupling design, which enables the robot to move in three dimensions underwater and on land under the drive of 4 motors; the robot has two airbags on the top and bottom, which can achieve depth control in any gait of the robot.

[0025] The propeller mechanism in this invention is designed based on biomimicry principles, inspired by fish swimming. The webs are similar to the tail fin, and the movement of the webs simulates the tail fin of a fish, exhibiting a similar movement posture to that of fish in water, thus possessing excellent water movement capabilities. Attached Figure Description

[0026] The present invention will now be described in detail with reference to the embodiments and accompanying drawings, wherein:

[0027] Figure 1 This is an isometric drawing of one embodiment of an amphibious robot.

[0028] Figure 2 This is an exploded view of one embodiment of an amphibious robot.

[0029] Figure 3 An exploded view of one embodiment of the propeller mechanism in an amphibious robot;

[0030] Figure 4 An exploded view of one embodiment of a sealed compartment in an amphibious robot;

[0031] Figure 5 This is a front view of the robot in an amphibious robot.

[0032] Figure 6 This is a flowchart of a control method for an amphibious robot.

[0033] Figure 7This is a schematic diagram of the underwater movement gait of an amphibious robot.

[0034] Figure 8 This is a schematic diagram of the gait of a robot moving on land in an amphibious robot. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0036] Please see Figure 1-8 An amphibious robot 100 includes a body 10 and a motion mechanism 20;

[0037] The body 10 includes a sealed chamber 11, a head end cap 12, and a body shell 13; the sealed chamber 11 is placed inside the body shell 13, and the head end cap 12 is connected to one end of the body shell 13 by screws.

[0038] In some embodiments, the sealed chamber 11 is composed of a flange end cap fixing ring 111, a hollow waterproof screw 112, a waterproof nut 113, a sealed chamber flange 114, an acrylic tube 115, a PCB 116, a fixing plate 117, a battery 118, a sealed chamber cover 119, and a solid waterproof screw 110. The PCB 116 and the battery 118 are respectively fixed to the upper and lower ends of the fixing plate 117 by Velcro, and then placed in the acrylic tube 115. The sealed chamber flanges 114 are installed at both ends of the acrylic tube 115. The hollow waterproof screw 112, the solid waterproof screw 110, and the waterproof nut 113 are installed on the sealed chamber cover 119, and then installed on one end of the sealed chamber flange 114. Finally, the flange end cap fixing ring 111 is installed and connected by screws.

[0039] The motion mechanism 20 includes several propeller mechanisms 21 and several propeller drives 22;

[0040] In some embodiments, there are four propeller mechanisms 21, which are divided into two groups and installed on both sides of the front and rear ends of the body 10, respectively.

[0041] In some embodiments, the propeller mechanism 21 is at an angle of 45° to the body 10 and is arranged symmetrically along the longitudinal and transverse directions of the body 10; the two propeller mechanisms 21 at the front and rear ends of the body 10 are in an open state on the outside of the body 10.

[0042] In some embodiments, the housing 13 has a propeller support 130;

[0043] In some embodiments, the propeller mechanism 21 includes a hub 211, a runner 212, and at least one fin 213; the hub 211 and the runner 212 have at least one notch 200 for coupling and mounting the fin 213; the runner 212 is annular and fits around the outside of the hub 211, and has a notch consistent with the hub 211; the notch 200 of the hub has at least one connecting portion 214 for connecting the fin 213; in some embodiments, the fin 213 has one; in some embodiments, the connecting portion 214 is rigid. The connecting rod has a connecting end 2140 at its outer end, and a web 213 is mounted on the connecting end 2140. In some embodiments, the outer side of the wheel 212 has wheel grooves. In some embodiments, the outer side of the wheel 212 is provided with a plurality of toothed protrusions 2120. In some embodiments, the outer end of the web 213 extends out of the hub 211 and the outer side of the wheel 212, and the web 213 is arranged radially along the wheel 212. When the web 213 protrudes from the wheel 212, the propeller mechanism 21 has a certain obstacle-crossing function by means of the protruding web 213.

[0044] In some embodiments, the wheel 212 is a flexible outer ring; the rigidity of the flexible outer ring can be relatively large, and it is installed on the hub 211 by screws. In some embodiments, the web plate 213 is a flexible web plate; it is connected to the connecting end 2140 by screws.

[0045] In some embodiments, the propeller drive 22 is provided with four propellers, each propeller drive 22 including a servo motor 221; the four servo motors 25 are respectively mounted on the four opposite corners of the housing 27 by screws, and the other side is respectively connected to the hub 211 of the four propeller mechanisms 21 by screws.

[0046] In some embodiments, the system further includes an airbag unit 30, which is disposed on the body 10 and can adjust the airbag volume to adjust buoyancy. In some embodiments, the airbag unit 30 includes an airbag shell 31, an airbag 32, and an adjusting member (not shown in the figure). The body shell 13 has airbag shells 31 on its upper and lower sides, and two airbags 32 are provided, which are respectively installed in the upper and lower airbag shells 31. The airbags 32 are installed in the airbag shells 31. The airbag shells 31 have several small holes. The adjusting member is connected to the airbags 32 to adjust the volume of the airbags 32.

[0047] In some embodiments, a control unit is also included. In some embodiments, the control unit is a control chip mounted on a PCB board. Under the control of the control unit, the propeller mechanism has at least two motion states, including a rolling state and a reciprocating oscillating state. In the rolling state, the machine body can move in a wheel-like manner by relying on the rotating wheel in the propeller mechanism. In the reciprocating oscillating state, the machine body can move in the water by relying on the webs in the propeller mechanism to obtain thrust in a paddle-like manner.

[0048] A control method for an amphibious robot includes: S1. On land, because the propeller mechanism is at a 45° angle to the body, the propeller mechanism is controlled to be in a rolling state; the motion mechanism of the body adopts a four-wheel drive control mode, and the driving force is obtained by controlling four motors to rotate forward, reverse and / or wheel speed deviation to perform land walking actions, including forward, backward, yaw, lateral movement and stationary rotation; when the body is in the corresponding posture, it can perform rolling and forward pitch coupling in conjunction with the action;

[0049] S2. In the water, because the propeller mechanism is at a 45° angle to the body, the propeller mechanism is controlled to be in a reciprocating swing state; the motion mechanism of the body adopts a 4-propeller drive control method, which controls 4 motors to swing the fins and water respectively, and controls the airbag to adjust the volume to obtain driving force to perform swimming actions in the water; the swimming actions in the water include three-dimensional motion actions in the water and constant depth hovering actions.

[0050] When the robot moves on land, propeller mechanisms provide propulsion through clockwise and counterclockwise rotation. Counterclockwise rotation of LJ1 and LJ3, and clockwise rotation of LJ2 and LJ4, propels the robot forward; conversely, counterclockwise rotation propels it backward. Clockwise rotation of LJ1 and LJ2, and counterclockwise rotation of LJ3 and LJ4, propels the robot to the right; conversely, counterclockwise rotation propels it to the left. By setting the rotational speed of one propeller mechanism to a different speed than the others, yaw motion can be achieved. Clockwise rotation of LJ1 and LJ4 enables a left turn in place; similarly, counterclockwise rotation of LJ2 and LJ3 enables a right turn in place. Based on the same principle, different initial positions of the propeller mechanisms can achieve different gaits, such as rolls and forward-pitch coupling. Compared to traditional amphibious robots, this robot requires fewer motors, has more gaits, and possesses excellent flexibility, making it particularly suitable for operations in confined underwater spaces.

[0051] When the robot swims in water, the reciprocating propeller mechanism generates thrust through the rigid-flexible coupling of the propellers, providing power for the robot's movement. In the diagram, arrows indicate the direction of movement, solid arrows represent the force generated by the propellers, and dashed arrows represent the components of that force in two directions. The numbering order of the propellers is shown. Taking a backward gait as an example, the backward components of the forces generated by F1 and F2 cause the robot to move backward. While the horizontal component does not contribute to the robot's propulsion, it ensures the robot's stability in the horizontal direction. Similarly, the reciprocating oscillation of propeller mechanisms LJ3 and LJ4 enables the robot to move forward. The reciprocating oscillation of propeller mechanisms LJ1 and LJ4 enables the robot to turn left in place; similarly, the reciprocating oscillation of propeller mechanisms LJ2 and LJ3 enables the robot to turn right in place. The reciprocating oscillation of propeller mechanisms LJ2 and LJ4 enables the robot to move laterally to the left; similarly, the reciprocating oscillation of propeller mechanisms LJ1 and LJ3 enables the robot to move laterally to the right. By varying the reciprocating oscillation speeds of the two propeller mechanisms in the aforementioned gait, the robot's yaw motion can be achieved. With the flexible webs of all four propeller mechanisms positioned below the robot and perpendicular to the horizontal plane, the reciprocating oscillation of the four propeller mechanisms enables the robot to ascend; conversely, it enables the robot to descend. With the flexible webs of propeller mechanisms LJ1 and LJ2 positioned below or below the robot and perpendicular to the horizontal plane, the reciprocating oscillation of these two propeller mechanisms enables the robot's pitch motion.

[0052] In the description of this specification, the use of terms such as "Embodiment 1," "this embodiment," or "in one embodiment" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example; moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in one or more embodiments or examples.

[0053] In the description of this specification, the terms "connection," "installation," "fixing," "setting," and "having" are interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] In the description of this specification, relational terms such as “first” and “second” are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0055] The above description of the embodiments is intended to enable those skilled in the art to understand and apply the technology of this invention. Those skilled in the art can easily make various modifications to these examples and apply the general principles described herein to other embodiments without creative effort. Therefore, this invention is not limited to the above embodiments. Modifications in the following situations should be within the scope of protection of this invention: ① New technical solutions implemented based on the technical solution of this invention and combined with existing common knowledge, where the technical effects of the new technical solution do not exceed the technical effects of this invention; ② Equivalent substitutions of some features of the technical solution of this invention using known technology, resulting in the same technical effects as those of this invention; ③ Extendable technical solutions based on the technical solution of this invention, where the substantive content of the extended technical solution does not exceed the technical solution of this invention; ④ Equivalent transformations made using the content of this specification and drawings, directly or indirectly applied to other related technical fields.

Claims

1. An amphibious robot, characterized in that, Includes the body, motion mechanism, and control unit; The motion mechanism includes several propeller mechanisms and propeller drives; the propeller mechanism has a rotor and fins; under the control of the control unit, the propeller mechanism has at least two motion states, including a rolling state and a reciprocating oscillating state; in the rolling state, the machine body can move in a wheel-like manner by relying on the rotor in the propeller mechanism; in the reciprocating oscillating state, the machine body can move in the water by obtaining thrust in a paddle-like manner by relying on the fins in the propeller mechanism. The amphibious robot is controlled by a method that includes: on land, with the propeller mechanism at a 45° angle to the body, controlling the propeller mechanism to be in a rolling state; the body's motion mechanism adopts a four-wheel drive control mode, using four motors to control forward and reverse rotation and / or wheel speed deviation to obtain driving force to perform land walking actions, including forward, backward, yaw, lateral movement, and stationary rotation; when the body is in the corresponding posture, it can perform rolling and forward pitch coupling in conjunction with this action; In the water, because the propeller mechanism is at a 45° angle to the body, the propeller mechanism is controlled to be in a reciprocating swing state; the motion mechanism of the body adopts a 4-propeller drive control method, which controls 4 motors to swing the fins and water respectively, and controls the airbag to adjust the volume to obtain driving force to perform swimming movements in the water; the swimming movements in the water include three-dimensional movement movements in the water and constant depth hovering movements.

2. The amphibious robot according to claim 1, characterized in that, The propeller mechanism includes a hub, a rotor, and at least one web; The hub has at least one notch, and the notch of the hub has at least one connecting part, on which the web is mounted; The wheel is ring-shaped and fits onto the outside of the hub, and has a notch that matches the hub; the outside of the wheel has wheel treads or tooth protrusions.

3. An amphibious robot according to claim 2, characterized in that, The outer end of the web extends beyond the hub and the outside of the wheel, and the web is arranged radially along the wheel.

4. An amphibious robot according to claim 3, characterized in that, The propeller mechanism has four components, which are divided into two groups and installed on both sides of the front and rear ends of the machine body, respectively. The propeller mechanism is at a 45° angle to the fuselage and is symmetrically arranged along the longitudinal and transverse sides of the fuselage; The two propeller mechanisms at the front and rear ends of the fuselage are in an open state on the outside of the fuselage.

5. An amphibious robot according to claim 4, characterized in that, It also includes an airbag unit, which is mounted on the body and can adjust the airbag volume to adjust buoyancy.

6. An amphibious robot according to claim 5, characterized in that, The propeller drive includes four motors, each connected to the axle of the hub in the corresponding propeller mechanism. The motors can drive the hub to rotate or oscillate back and forth.

7. An amphibious robot according to claim 6, characterized in that, The machine body has a sealed compartment, and the control unit and power supply are built into the sealed compartment.

8. An amphibious robot according to claim 7, characterized in that, The airbag unit includes an airbag shell, an airbag, and an adjusting component; the upper and lower sides of the body each have an airbag shell, and two airbags are provided, which are respectively installed inside the upper and lower airbag shells. The airbags are installed inside the airbag shells; there are several small holes on the airbag shells; the adjusting component is connected to the airbag to adjust the volume of the airbag.

9. An amphibious robot as described in any one of claims 1-8, applicable to scientific research, environmental monitoring, military exploration, and seabed resource surveying and development.

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