A frog structure based amphibious multi-posture robot

Abstract

The application discloses a kind of amphibious multi-posture robots based on frog structure, the amphibious multi-posture robot includes robot main body, posture control module, grab sampling module and deformation foot;The application is based on the movement mode of frog, a deformable foot structure is designed by mechanical structure, and through the design of ballast water tank and gravity center adjusting mechanism, cooperate with the different movement modes of robot, can face complex environment working condition;At the same time, from the angle of stress and adaptability, flexible structures such as flexible mechanical claw, flexible bellows are used, which can adapt to more different shapes of seabed collection objects, and are more adaptable;Combined with flexible bellows, the control mode is more flexible, and the mutual interference force is smaller under the cooperation working condition of two robots;By suction principle, a grab and suction combined collection structure is designed, integrated collection is realized, the complex grabbing, transferring and placing process is avoided, and the sampling and collection efficiency can be greatly improved.

Description

Technical Field

[0001] This invention relates to an amphibious multi-posture robot, and more particularly to an amphibious multi-posture robot based on a frog structure, belonging to the field of robotics technology. Background Technology

[0002] As people delve deeper into ocean exploration, the demand for underwater robots is increasing. The design and development of multi-condition adaptable underwater robots play a crucial role in ocean exploration and development. Hu Gangyi and Li Junsong of the Ezhou Industrial Technology Research Institute of Huazhong University of Science and Technology disclosed an underwater robot tracked chassis and underwater robot (CN112874735B), proposing an underwater robot with flexible suspension capable of walking on underwater surfaces. This robot has good adaptability to underwater surfaces, but it still disturbs bottom sediments, causing environmental pollution, and its movement posture is limited, resulting in insufficient adaptability. Song Dalei et al. of Ocean University of China disclosed a three-segment underwater deformable robot (CN109774091 A), proposing a deformable structure to adjust the swimming posture of the underwater robot. However, this robot is still only adapted to swimming postures, limiting its applicability. Therefore, this invention discloses an amphibious multi-posture robot based on a frog structure and its underwater sampling and grasping system, which has the characteristics of strong adaptability, environmental friendliness, and high collection efficiency, enabling it to better perform related underwater tasks. Summary of the Invention

[0003] Purpose of the invention: The present invention aims to provide an amphibious multi-posture robot based on a frog structure that is flexible and adaptable to complex working conditions.

[0004] Technical Solution: The present invention discloses an amphibious multi-posture robot based on a frog structure. The amphibious multi-posture robot includes a robot body, a posture control module, a grasping and sampling module, and deformable legs. The posture control module is mounted on the robot body and is used to sense the robot's posture and adjust the robot's motion posture. The grasping and sampling module is fixed below the posture control module and performs sampling through a combination of flexible grasping and pumping. The deformable legs are symmetrically distributed around the robot body. Under the control of the posture control module, the deformable legs can arbitrarily change between crawling, roller-driven, and swimming postures.

[0005] Furthermore, the amphibious multi-posture robot also includes a grasping and collecting module, a connecting pipe system, and a storage and transportation robot. The grasping and collecting module is used to replace the grasping and sampling module, and the connecting pipe system is used to connect the grasping and sampling module and the storage and transportation robot.

[0006] Furthermore, the grasping and sampling module includes a first sampling tank, a first flexible gripper, a first flexible corrugated pipe, a first flexible control rod, a water pump, and a first control center. One end of the first sampling tank is sequentially connected to the first flexible corrugated pipe and the first flexible gripper, while the other end is connected to the water pump. The first flexible control rod is connected to the first flexible gripper and is used to control the gripper to move and grasp in various directions. The first control center is connected to the first flexible gripper, the first flexible control rod, and the water pump.

[0007] The grasping and collection module includes a second sampling tank, a second flexible gripper, a second flexible corrugated pipe, a second flexible control rod, a storage and transportation robot connection port, and a second control center. One end of the second sampling tank is connected to the second flexible corrugated pipe and the second flexible gripper in sequence, and the other end of the second sampling tank is provided with a storage and transportation robot connection port. The second flexible control rod is connected to the second flexible gripper and is used to control the gripper to move and grasp in various directions. The second control center is connected to both the second flexible gripper and the second flexible control rod.

[0008] Furthermore, the robot body includes a main body shell, a camera, an umbilical cable, a memory, a processor, and a battery; the camera is installed inside the main body shell for acquiring visual information; the memory, processor, and battery are installed inside the main body shell; the umbilical cable is used for power transmission and information interaction.

[0009] Furthermore, the main body shell consists of a watertight pressure-resistant shell, a pressure-resistant glass window, and a searchlight, with the pressure-resistant glass window and searchlight respectively mounted on the watertight pressure-resistant shell.

[0010] Furthermore, the attitude control module includes a watertight and pressure-resistant outer shell, a controller, an attitude sensor, a ballast tank, a ballast water pump, and a center of gravity adjuster. The watertight and pressure-resistant outer shell forms a watertight and pressure-resistant internal space to protect the robot's internal components. The controller is connected to the attitude sensor, the ballast water pump, and the center of gravity adjuster, respectively. The ballast water pump is connected to the ballast tank. The attitude sensor acquires the robot's operating attitude in real time and feeds it back to the controller, which adjusts the ballast water pump to draw and discharge ballast water into the ballast tank and controls the center of gravity adjuster to adjust the robot's center of gravity.

[0011] Furthermore, the center of gravity adjuster consists of a spiral slide rail and a self-driving weight. The self-driving weight is equipped with a self-driving motor, which allows the self-driving weight to slide on the spiral slide rail to adjust the robot's center of gravity. The robot attitude control module has the following adjustment modes under different working conditions: crawling on the seabed, swimming in water, and driven by land rollers: when the robot is crawling on the seabed, the ballast tank is fully loaded, and the self-driving weight of the center of gravity adjuster is centered; when the robot is swimming in water, the ballast tank is empty, and the sliding of the self-driving weight of the center of gravity adjuster controls the robot's buoyancy, horizontal swimming, and diving swimming; when the robot is driven by land rollers, the ballast tank is empty, and the self-driving weight of the center of gravity adjuster is centered.

[0012] Furthermore, the deformable foot is composed of a rotating connecting base, a first robotic arm, a second robotic arm, a hub, a propeller propulsion foot, a first rotating bolt, and a second rotating bolt; wherein one end of the first robotic arm is connected to the rotating connecting base and the first rotating bolt, and the other end of the first robotic arm is connected to one end of the second robotic arm through the second rotating bolt; the other end of the second robotic arm, which is furthest away, is connected to the propeller propulsion foot; the hub is installed at the connection between the first robotic arm and the second robotic arm.

[0013] Furthermore, the connecting pipe system consists of a connecting flange, connecting pipes, corrugated hoses, and connecting ports; wherein a number of spaced connecting pipes and corrugated hoses together form the flow channel between the storage and transportation robot and the grasping and collecting module; the connecting flange and connecting ports are respectively located at both ends of the above flow channel.

[0014] Furthermore, the storage and transportation robot comprises a shell frame, an electromagnetic connection port, a jet pump thruster, a flow meter, and a power supply and control center. The electromagnetic connection port is used to connect to the connection port of the connecting pipe system. The jet pump thruster is located on the side of the shell frame away from the electromagnetic connection port and is used to provide suction to the flow channel. The flow meter is installed on the jet pump thruster and is used to monitor the flow rate at the tail end of the jet pump thruster, and the magnitude of the flow rate is used to determine whether the storage and transportation robot is fully loaded. The power supply and control center are connected to the electromagnetic connection port, the jet pump thruster, and the flow meter, respectively.

[0015] The basic principle of this invention is as follows:

[0016] 1. Based on the locomotion pattern of frogs, a deformable foot structure was designed through mechanical structure to realize amphibious and seabed crawling locomotion;

[0017] 2. By designing ballast water tanks and a center of gravity adjustment mechanism, a robot structure with adjustable gravity and center of gravity is realized to adapt to different movement modes of the robot;

[0018] 3. From the perspective of stress and adaptability, flexible structures including flexible mechanical claws and flexible bellows are adopted to adapt to complex working conditions;

[0019] 4. To simplify the traditional complex grasping, transferring, and placing process, a collection structure combining grasping and suction was designed based on the principle of suction to achieve integrated collection.

[0020] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: 1. The flexible deformable robot design, combined with the gravity and center of gravity adjustment structure, realizes flexible and varied amphibious and seabed crawling movements, which can adapt to complex environmental conditions;

[0021] 2. The use of flexible mechanical claws can adapt to a wider variety of seabed collectible shapes, making it more adaptable; combined with flexible bellows, the control method is more flexible, and the mutual interference force is smaller when two robots work together.

[0022] 3. The collection structure, which combines grasping and suction, avoids the complex processes of grasping, transferring, and placing, and can greatly improve the sampling and collection efficiency;

[0023] 4. It adopts a modular design, can be equipped with different operating modules, and has good development prospects and adaptability to multiple fields. Attached Figure Description

[0024] Figure 1 : A schematic diagram of the matching and grasping system of the present invention;

[0025] Figure 2 : A schematic diagram of the robot body and posture control module of the present invention;

[0026] Figure 3 : A schematic cross-sectional view of the robot body and attitude control module of the present invention;

[0027] Figure 4 : A schematic diagram of the center of gravity adjuster structure of the present invention;

[0028] Figure 5 : A schematic diagram of the structure of the grasping and sampling module of the present invention;

[0029] Figure 6 : Schematic diagram of the deformable foot structure of the present invention;

[0030] Figure 7 : A schematic diagram of the robot's underwater crawling posture according to the present invention;

[0031] Figure 8 : A schematic diagram of the robot's on-land hub-driven posture according to the present invention;

[0032] Figure 9 : A schematic diagram of the robot's underwater movement posture according to the present invention;

[0033] Figure 10 : A schematic diagram of the matching and collection system of the present invention;

[0034] Figure 11 : A schematic diagram of the structure of the grabbing and collecting module of the present invention;

[0035] Figure 12 : Schematic diagram of the connecting pipe system and storage and transportation robot structure of the present invention;

[0036] Figure 13 : Schematic diagram of the power supply and control center of the storage and transportation robot of the present invention.

[0037] Reference numerals: 1. Robot body; 11. Main body shell; 111. Watertight pressure-resistant shell; 112. Pressure-resistant glass window; 113. Searchlight; 12. Camera; 13. Umbilical cable; 14. Memory; 15. Processor; 16. Battery; 2. Attitude control module; 21. Watertight pressure-resistant outer shell; 22. Controller; 23. Attitude sensor; 24. Ballast tank; 25. Ballast water pump; 26. Center of gravity adjuster; 261. Spiral slide rail; 262. Self-driving weight; 3. Grasping and sampling module; 31. First support base plate; 32. First connecting rod; 33. First flexible gripper; 34. First flexible bellows; 35. First flexible control rod; 36. First sampling tank; 37. First control center; 38. Water pump; 4. Deformable foot; 41. Rotary connecting base; 42. First robotic arm; 43. 44. Second robotic arm; 45. Hub; 46. Propeller foot; 47. First rotating bolt; 48. Second rotating bolt; 5. Connecting piping system; 59. Connecting flange; 50. Connecting pipe; 51. Corrugated hose; 52. Connecting port; 60. Grasping and collecting module; 61. Second supporting base plate; 62. Second connecting rod; 63. Second flexible gripper; 64. Second flexible corrugated pipe; 65. Second flexible control rod; 66. Second sampling tank; 67. Second control center; 68. Storage and transportation robot connection port; 79. Storage and transportation robot; 711. Pressure-resistant shell; 712. Filter shell; 71. Shell frame; 72. Electromagnetic connection port; 73. Spray pump propulsion unit; 74. Flow meter; 75. Power supply and control center; 751. Watertight pressure-resistant shell; 752. Underwater acoustic communication module; 753. Battery; 754. Control module. Detailed Implementation

[0038] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0039] Example 1

[0040] like Figure 1As shown, this embodiment of the invention provides an amphibious multi-posture robot based on a frog structure. This amphibious multi-posture robot is used to match an underwater sampling system. The amphibious multi-posture robot consists of a robot body 1, a posture control module 2, a grasping and sampling module 3, and deformable legs 4. The robot body 1 is the main energy supply, signal collection, and processing center. The posture control module 2 is fixed to the bottom of the robot body 1 and adjusts the robot's motion posture by sensing the robot's posture and adjusting the ballast water and center of gravity adjuster. The grasping and sampling module 3 is fixed below the posture control module 2 and performs rapid sampling through a combination of flexible grasping and pump suction. The deformable legs 4 are symmetrically distributed around the robot body 1 and can cooperate with the posture control module 2 to complete crawling, wheel-driven, and swimming posture changes in different working environments.

[0041] like Figure 2 , Figure 3 As shown, the robot body 1 comprises a main shell 11, a camera 12, an umbilical cable 13, a memory 14, a processor 15, and a battery 16. The main shell 11 consists of a watertight pressure-resistant housing 111, a pressure-resistant glass window 112, and a searchlight 113. These components together form a watertight pressure-resistant internal space to protect the robot's internal components. The pressure-resistant glass window 112 and the searchlight 113 provide sufficient optical conditions for the robot's vision components. The camera 12 is mounted behind the pressure-resistant glass window 112 and below the searchlight 113 to acquire visual information. The umbilical cable 13 is used for power transmission and information exchange; the memory 14 is used to store some key visual information and preset control programs; the processor 15 is used to process the signals transmitted by the camera 12, umbilical cable 13, memory 14, etc., and convert the received signals into control signals for output to control the robot to complete underwater operations; the battery 16 is set at the power input port connected to the umbilical cable 13 and the power output port connected to related components, and can store a certain amount of electricity. On the one hand, it ensures the stable output of current, and on the other hand, it can disconnect from the umbilical cable and return autonomously when the transmission signal and current input are interrupted or when a dangerous working condition is encountered.

[0042] like Figure 3 As shown, Figure 4As shown, the attitude control module 2 comprises a watertight and pressure-resistant outer shell 21, a controller 22, an attitude sensor 23, a ballast chamber 24, a ballast water pump 25, and a center of gravity adjuster 26. The watertight and pressure-resistant outer shell 21 forms a watertight and pressure-resistant internal space to protect the robot's internal components. The controller 22, in conjunction with the attitude sensor 23, performs coordinated control of the robot's motion attitude. The attitude sensor 23 acquires the robot's running attitude in real time and feeds it back to the controller 22, which adjusts the ballast water pump 25 to pump ballast water into the ballast chamber 24 and controls the center of gravity adjuster 26 to adjust the robot's center of gravity. Simultaneously, the overall design density of the robot is slightly greater than that of water when the ballast water is empty, to ensure energy efficiency during robot movement. The center of gravity adjuster 26 consists of a spiral slide rail 261 and a self-driven weight 262. The self-driven weight 262 contains a self-driven motor, allowing it to slide automatically on the spiral slide rail 261 to adjust the robot's center of gravity. The robot attitude control module 2 has the following adjustment modes under different working conditions: crawling on the seabed, swimming in water, and driven by land-based rollers. When the robot is crawling on the seabed, the ballast tank 24 is fully loaded, and the self-driven weight 262 of the center of gravity adjuster 26 is centered, making the robot denser than water and adhering to the seabed by gravity, with a stable center of gravity. When the robot is swimming in water, the ballast tank 24 is empty, making the robot's propulsion more energy-efficient. At the same time, the sliding control of the self-driven weight 262 of the center of gravity adjuster 26 controls the robot's buoyancy (self-driven weight 262 to the tail end, center of gravity to the rear, making the robot's head tilt up), horizontal swimming (self-driven weight 262 centered, robot's center of gravity centered, head horizontal), and diving swimming (self-driven weight 262 to the front end, center of gravity forward, making the robot's head sink). When the robot is driven by land-based rollers, the ballast tank 24 is empty, making the robot's movement more energy-efficient. The self-driven weight 262 of the center of gravity adjuster 26 is centered, the center of gravity is stable, and the robot moves stably.

[0043] like Figure 5 As shown, the grasping and sampling module 3 comprises a first supporting base plate 31, a first connecting rod 32, a first flexible gripper 33, a first flexible corrugated pipe 34, a first flexible control rod 35, a first sampling tank 36, a first control center 37, and a water pump 38. One end of the first sampling tank 36 is sequentially connected to the first flexible corrugated pipe 34 and the first flexible gripper 33, while the other end is connected to the water pump 38. The first flexible control rod 35 is connected to the first flexible gripper 33 and is used to control the gripper's movement in various directions for grasping. The first control center 37 is connected to the first flexible gripper 33, the first flexible control rod 35, and the water pump 38.

[0044] Specifically, the first supporting base plate 31 and the first connecting rod 32 together form a supporting frame, which is fixedly connected to the upper attitude control module 2 by the first connecting rod 32. The first flexible gripper 33 is made of flexible rubber and can be gripped and released by air pressure. It is connected to the first flexible corrugated pipe 34 and the first flexible control rod 35 to control the gripper to move and grasp in various directions, forming a cavity configuration. Together with the first collection tank 36 and the water pump 38, it forms a suction channel. After being gripped, the first flexible gripper 33 is absorbed into the collection tank through the first flexible corrugated pipe 34 for storage. The front end of the water pump 38 is equipped with a filter screen to prevent the water pump 38 from becoming clogged or damaged. The control center 37 is used to control the gripping and releasing of the first flexible gripper 33, control the movement of the first flexible control rod 35 in space to control the movement and gripping of the first flexible gripper 33, and control the water pump 38 to drain water and generate suction.

[0045] like Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the deformable foot 4 consists of a rotating connecting base 41, a first robotic arm 42, a second robotic arm 43, a hub 44, a propeller propulsion foot 45, a first rotating bolt 46, and a second rotating bolt 47. One end of the first robotic arm 42 is connected to the rotating connecting base 41 via the first rotating bolt 46, and the other end of the first robotic arm 42 is connected to one end of the second robotic arm 43 via the second rotating bolt 47. The other end of the second robotic arm 43, located away from the hub, is connected to the propeller propulsion foot 45. The hub 44 is installed at the connection point between the first robotic arm 42 and the second robotic arm 43.

[0046] Specifically, the rotating connecting base 41 is connected to the bottom of the robot body 1 and can rotate. The first robotic arm 42 is connected to the rotating connecting base 41 by a first rotating bolt 46 and can rotate around the first rotating bolt 46. The second robotic arm 43 and the hub 44 are connected to the first robotic arm 42 by a second rotating bolt 47 and can rotate around the second rotating bolt 47. The propeller-driven foot 45 is installed at the end of the second robotic arm 43. The deformable foot 4 can switch between different movement modes through mechanical rotation. When the propeller-driven foot 45 of the deformable foot 4 contacts the seabed, it can perform crawling movement; when the hub 44 contacts the ground, it can be driven by rolling; when the propeller-driven foot 45 leaves the ground, it can be controlled to rotate and propel the robot to swim.

[0047] The workflow of the above-mentioned amphibious multi-posture robot based on the frog structure is as follows:

[0048] like Figure 8The processor 15 of the robot body 1 sends a land movement signal to the controller 22 of the attitude control module 2, controlling the robot to rotate. The base 41 of the robot rotates, the first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and the wheel hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 obtains the real-time attitude, and the controller 22 controls it in real time until the wheel hub 44, realizing land rolling drive. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure that the center of gravity is centered and stable during operation. The processor 15 controls the robot to move to the water's edge of the working area.

[0049] like Figure 9 The processor 15 of the robot body 1 sends a floating movement signal to the controller 22 of the attitude control module 2, controlling the robot to rotate. The base 41 of the robot rotates, the first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and the hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 obtains the real-time attitude, and the controller 22 controls it in real time until the propeller propels the foot 45 horizontally backward. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure that the center of gravity is centered and stable during operation. The processor 15 controls the robot to swim to the working water area.

[0050] While keeping the robot's deformable leg 4 posture unchanged, the controller 22 controls the self-driving weight block 262 of the center of gravity adjuster 26 to slide to the front end of the spiral slide rail 261. At the same time, the controller 22 controls the ballast water pump 25 to draw ballast water into the ballast tank 24, forming a diving working posture. Meanwhile, the processor 15 controls the searchlight 113 to turn on, and the camera 12 acquires underwater image information in real time. The processor 15 and the memory 14 work together to complete the diving operation.

[0051] like Figure 7 After the robot descends to the seabed and enters its working area, the processor 15 of the robot body 1 sends a water droplet crawling movement signal to the controller 22 of the attitude control module 2, which controls the robot to rotate. The base 41 of the robot rotates, the first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and the hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 acquires the real-time attitude, and the controller 22 controls it in real time until the propeller-driven foot 45 of the deformable foot 4 contacts the seabed and begins the crawling movement. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure that the center of gravity is centered and stable during operation.

[0052] After entering the underwater data collection mode, the camera 12 acquires seabed image information, and the memory 14 and processor 15 work together to perform image recognition in order to determine the sampling target.

[0053] The controller 15 controls the first flexible control lever 35 to drive the first flexible bellows 34, which in turn drives the first flexible gripper 33 to grab the sampling target. After grabbing the sampling target, the water pump 38 drains water to form a suction flow channel, so that the sampling target is collected into the first sampling tank 36 to complete the sampling target collection. Then, the next sampling target grabbing operation begins until the sampling operation is completed.

[0054] After sampling is completed, the robot enters the return-to-home phase. The processor 15 of the robot body 1 sends a return-to-home movement signal to the controller 22 of the attitude control module 2, controlling the robot's rotating connecting base 41 to rotate. The first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 acquires the real-time attitude, and the controller 22 controls it in real time until the propeller propels the foot 45 horizontally backward. At the same time, the controller 22 controls the self-driving weight block 262 of the center of gravity adjuster 26 to slide to the rear end of the spiral rail 261. The controller 22 also controls the ballast water pump 25 to discharge ballast water from the ballast tank 24, forming an upward working posture. The processor 15 controls the robot to swim to the water surface. After the robot reaches the water surface, the processor 15 of the robot body 1 sends a floating movement signal to the controller 22 of the attitude control module 2, controlling the robot's rotating connecting base 41 to rotate. The first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and hub 44 rotate around the second rotating bolt 47. The second rotating bolt 47 rotates, and the attitude sensor 23 of the attitude control module 2 acquires the real-time attitude, which is controlled in real-time by the controller 22 until the propeller propels the foot 45 horizontally backward. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure the center of gravity is centered and stable during operation. The processor 15 controls the robot to swim to the shore. After the robot reaches the shore, the processor 15 of the robot body 1 sends a land movement signal to the controller 22 of the attitude control module 2 to control the rotation of the robot's rotating connecting base 41 to rotate. The first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and the wheel hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 acquires the real-time attitude, which is controlled in real-time by the controller 22 until the wheel hub 44 is reached, realizing land rolling drive. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure the center of gravity is centered and stable during operation. The processor 15 controls the robot to move and complete the return journey.

[0055] Example 2

[0056] like Figure 10 , Figure 11As shown, this embodiment of the invention provides an amphibious multi-posture robot based on a frog structure. In this embodiment, the amphibious multi-posture robot is used to match the collection system. Therefore, the grasping and sampling module 3 in embodiment 1 needs to be replaced with the grasping and collection module 6, and the grasping and collection module 6 is connected to the storage and transportation robot 7 through the connecting pipe system 5. The grasping and collection module 6 is similar to the grasping and sampling module 3, except that the pump suction structure is removed and replaced with the storage and transportation robot connection port 68 of the connecting pipe system 5 connected to the storage and transportation robot 7. Specifically, the grasping and collection module 6 includes a second sampling tank 66, a second flexible gripper 63, a second flexible corrugated pipe 64, a second flexible control rod 65, a storage and transportation robot connection port 68, and a second control center 67. One end of the second sampling tank 66 is connected to the second flexible corrugated pipe 64 and the second flexible gripper 63 in sequence, and the other end of the second sampling tank 66 is provided with the storage and transportation robot connection port 68. The second flexible control rod 65 is connected to the second flexible gripper 63 and is used to control the gripper to move and grasp in various directions. The second control center 67 is connected to the second flexible gripper 33 and the second flexible control rod 35 respectively.

[0057] The storage and transport robot 7 can collect, store, and transport collected underwater materials, and can autonomously navigate and replace them.

[0058] like Figure 12 As shown, the connecting piping system 5 consists of a connecting flange 51, connecting pipes 52, corrugated hoses 53, and connecting ports 54. Several spaced connecting pipes 52 and corrugated hoses 53 together form the flow channel between the storage and transportation robot 7 and the grasping and collecting module 6; the connecting flange 51 and the connecting port 54 are respectively located at both ends of the flow channel.

[0059] Specifically, the connecting flange 51 is used to connect to the storage and transportation robot connection port 68 of the gripping and collection module 6; the connecting pipe 52 and the corrugated hose 53 together form the flow channel between the storage and transportation robot 7 and the gripping and collection module 6, and release a certain degree of freedom of movement to reduce the tension between the storage and transportation robot 7 and the gripping and collection module 6; the connecting port 54 is used to connect to the storage and transportation robot 7.

[0060] like Figure 12 , 13 As shown, the storage and transportation robot 7 comprises a housing frame 71, an electromagnetic connection port 72, a jet pump thruster 73, a flow meter 74, and a power supply and control center 75. The electromagnetic connection port 72 is used to connect to the connection port 54 of the connecting pipe system 5. The jet pump thruster 73 is located on the side of the housing frame 71 away from the electromagnetic connection port 72. The flow meter 74 is mounted on the jet pump thruster 73. The power supply and control center 75 is connected to the electromagnetic connection port 72, the jet pump thruster 73, and the flow meter 74, respectively.

[0061] The shell frame 71 is composed of a pressure-resistant shell 711 and a filter shell 712. The shell frame 71 is the main frame and storage body of the storage and transportation robot 7. The filter shell 712 prevents small pieces of collected material from clogging the spray pump thruster 73.

[0062] Specifically, the electromagnetic connection port 72 connects to the connection port 54 of the connecting pipe system 5, allowing for active connection and disconnection with the connecting pipe system 5, facilitating the autonomous replacement operation of the storage and transportation robot 7. The spray pump propeller 73 sprays water to provide suction for the flow channel formed by the grasping and collecting module 6, the connecting pipe system 5, and the storage and transportation robot 7. It also acts as a propeller for the storage and transportation robot 7 during autonomous replacement operations. The flow meter 74 monitors the flow rate at the tail end of the spray pump propeller 73, utilizing the principle that suction weakens as the collected material accumulates within the storage and transportation robot 7 to monitor the collection status inside the robot 7, determining whether it is fully loaded, and providing the operating signal for the autonomous replacement operation of the storage and transportation robot 7. The power supply and control center 75 includes a watertight pressure-resistant housing 751, an underwater acoustic communication module 752, a battery 753, and a control module 754. The watertight pressure-resistant housing 751 is a watertight and pressure-resistant structure to protect the internal components of the power supply and control center 75 from damage. The underwater acoustic communication module 752 is used to obtain control commands during the autonomous replacement process of the storage and transportation robot 7, and has completed tasks such as returning to port, docking, and replacement. The battery 753 is used to provide electrical energy for the autonomous replacement operation of the storage and transportation robot 7. The control module 754 obtains the full-load signal from the flow meter 74 and the signal from the underwater acoustic communication module 752 and converts them into control signals to control the storage and transportation robot 7 to complete the autonomous replacement work.

[0063] The workflow of the above-mentioned amphibious multi-posture robot based on the frog structure is as follows:

[0064] like Figure 8 The processor 15 of the robot body 1 sends a land movement signal to the controller 22 of the attitude control module 2, controlling the robot to rotate. The base 41 of the robot rotates, the first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and the wheel hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 obtains the real-time attitude, and the controller 22 controls it in real time until the wheel hub 44, realizing land rolling drive. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure that the center of gravity is centered and stable during operation. The processor 15 controls the robot to move to the water's edge of the working area.

[0065] like Figure 9The processor 15 of the robot body 1 sends a floating movement signal to the controller 22 of the attitude control module 2, controlling the robot to rotate. The base 41 of the robot rotates, the first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and the hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 obtains the real-time attitude, and the controller 22 controls it in real time until the propeller propels the foot 45 horizontally backward. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure that the center of gravity is centered and stable during operation. The processor 15 controls the robot to swim to the working water area.

[0066] While keeping the robot's deformable leg 4 posture unchanged, the controller 22 controls the self-driving weight block 262 of the center of gravity adjuster 26 to slide to the front end of the spiral slide rail 261. At the same time, the controller 22 controls the ballast water pump 25 to draw ballast water into the ballast tank 24, forming a diving working posture. Meanwhile, the processor 15 controls the searchlight 113 to turn on, and the camera 12 acquires underwater image information in real time. The processor 15 and the memory 14 work together to complete the diving operation.

[0067] like Figure 7 After the robot descends to the seabed and enters its working area, the processor 15 of the robot body 1 sends a water droplet crawling movement signal to the controller 22 of the attitude control module 2, which controls the robot to rotate. The base 41 of the robot rotates, the first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and the hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 acquires the real-time attitude, and the controller 22 controls it in real time until the propeller-driven foot 45 of the deformable foot 4 contacts the seabed and begins the crawling movement. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure that the center of gravity is centered and stable during operation.

[0068] After entering the underwater acquisition mode, the camera 12 acquires seabed image information, and the memory 14 and processor 15 work together to perform image recognition in order to determine the target to be captured.

[0069] like Figure 10The controller 15 controls the second flexible control lever 65 to drive the second flexible bellows 64, which in turn drives the second flexible gripper 63 to grab the target. After grabbing the target, the water jet propulsion 73 of the storage and transportation robot 7 drains water to form a suction channel, allowing the target to be collected into the second sampling tank 66. At the same time, the water jet propulsion 73 of the storage and transportation robot 7 continues to drain water, allowing the collected material to enter the storage and transportation robot 7. The flow meter 74 monitors the flow at the tail end in real time, and the control module 754 determines whether the storage and transportation robot 7 is fully loaded. After the storage and transportation robot 7 is fully loaded, it enters the replacement operation. The control module 754 cooperates with the underwater acoustic communication module 752 to complete the return, berthing, and replacement tasks of the storage and transportation robot 7. After the replacement of the storage and transportation robot 7 is completed, the controller 15 grabs the collection module 6 to continue the collection work until the collection operation is completed.

[0070] After sampling is completed, the robot enters the return-to-home phase. The processor 15 of the robot body 1 sends a return-to-home movement signal to the controller 22 of the attitude control module 2, controlling the robot's rotating connecting base 41 to rotate. The first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 acquires the real-time attitude, and the controller 22 controls it in real time until the propeller propels the foot 45 horizontally backward. At the same time, the controller 22 controls the self-driving weight block 262 of the center of gravity adjuster 26 to slide to the rear end of the spiral rail 261. The controller 22 also controls the ballast water pump 25 to discharge ballast water from the ballast tank 24, forming an upward working posture. The processor 15 controls the robot to swim to the water surface. After the robot reaches the water surface, the processor 15 of the robot body 1 sends a floating movement signal to the controller 22 of the attitude control module 2, controlling the robot's rotating connecting base 41 to rotate. The first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and hub 44 rotate around the second rotating bolt 47. The second rotating bolt 47 rotates, and the attitude sensor 23 of the attitude control module 2 acquires the real-time attitude, which is controlled in real-time by the controller 22 until the propeller propels the foot 45 horizontally backward. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure the center of gravity is centered and stable during operation. The processor 15 controls the robot to swim to the shore. After the robot reaches the shore, the processor 15 of the robot body 1 sends a land movement signal to the controller 22 of the attitude control module 2 to control the rotation of the robot's rotating connecting base 41 to rotate. The first robotic arm 42 rotates around the first rotating bolt 46, and the second robotic arm 43 and the wheel hub 44 rotate around the second rotating bolt 47. The attitude sensor 23 of the attitude control module 2 acquires the real-time attitude, which is controlled in real-time by the controller 22 until the wheel hub 44 is reached, realizing land rolling drive. At the same time, the controller 22 controls the self-driven weight block 262 of the center of gravity adjuster 26 to slide to the center of the spiral rail 261 to ensure the center of gravity is centered and stable during operation. The processor 15 controls the robot to move and complete the return journey.

Claims

1. An amphibious multi-posture robot based on a frog structure, characterized in that, The amphibious multi-posture robot includes a robot body, a posture control module, a grasping and sampling module, and deformable legs. The posture control module is mounted on the robot body and is used to sense the robot's posture and adjust its movement posture. The grasping and sampling module is fixed below the posture control module and performs sampling through a combination of flexible grasping and pump suction. The deformable legs are symmetrically distributed around the robot body and, under the control of the posture control module, can arbitrarily change between crawling, roller-driven, and swimming postures. The grasping and sampling module includes a first sampling tank, a first flexible gripper, a first flexible bellows, a first flexible control rod, a water pump, and a first control center. One end of the first sampling tank is sequentially connected to a first... A flexible corrugated pipe and a first flexible gripper are included. A water pump is connected to the other end of the first sampling tank. A first flexible control rod is connected to the first flexible gripper and is used to control the gripper's movement in various directions for grasping. The first control center is connected to the first flexible gripper, the first flexible control rod, and the water pump. The deformable foot consists of a rotating connecting base, a first robotic arm, a second robotic arm, a hub, a propeller propulsion foot, a first rotating bolt, and a second rotating bolt. One end of the first robotic arm is connected to the rotating connecting base via the first rotating bolt, and the other end of the first robotic arm is connected to one end of the second robotic arm via the second rotating bolt. The other end of the second robotic arm, away from the first, is connected to the propeller propulsion foot. The hub is installed at the connection between the first and second robotic arms.

2. The amphibious multi-posture robot based on a frog structure according to claim 1, characterized in that, The amphibious multi-posture robot also includes a grasping and collection module, a connecting pipe system, and a storage and transportation robot. The grasping and collection module is used to replace the grasping and sampling module, and the connecting pipe system is used to connect the grasping and sampling module and the storage and transportation robot.

3. The amphibious multi-posture robot based on a frog structure according to claim 2, characterized in that, The grasping and collection module includes a second sampling tank, a second flexible gripper, a second flexible corrugated pipe, a second flexible control rod, a storage and transportation robot connection port, and a second control center. One end of the second sampling tank is connected to the second flexible corrugated pipe and the second flexible gripper in sequence, and the other end of the second sampling tank is provided with a storage and transportation robot connection port. The second flexible control rod is connected to the second flexible gripper and is used to control the gripper to move and grasp in various directions. The second control center is connected to both the second flexible gripper and the second flexible control rod.

4. The amphibious multi-posture robot based on a frog structure according to claim 1 or 2, characterized in that, The robot body includes a main body shell, a camera, an umbilical cable, a memory, a processor, and a battery; the camera is installed inside the main body shell and is used to acquire visual information; the memory, processor, and battery are installed inside the main body shell; the umbilical cable is used for power transmission and information interaction.

5. The amphibious multi-posture robot based on a frog structure according to claim 4, characterized in that, The main outer shell consists of a watertight pressure-resistant shell, a pressure-resistant glass window, and a searchlight, with the pressure-resistant glass window and searchlight respectively mounted on the watertight pressure-resistant shell.

6. The amphibious multi-posture robot based on a frog structure according to claim 1 or 2, characterized in that, The attitude control module includes a watertight and pressure-resistant outer shell, a controller, an attitude sensor, a ballast tank, a ballast water pump, and a center of gravity adjuster. The watertight and pressure-resistant outer shell forms a watertight and pressure-resistant internal space to protect the robot's internal components. The controller is connected to the attitude sensor, the ballast water pump, and the center of gravity adjuster. The ballast water pump is connected to the ballast tank. The attitude sensor acquires the robot's running attitude in real time and feeds it back to the controller to adjust the ballast water pump to pump ballast water into the ballast tank and to control the center of gravity adjuster to adjust the robot's center of gravity.

7. The amphibious multi-posture robot based on a frog structure according to claim 6, characterized in that, The center of gravity adjuster consists of a spiral slide rail and a self-driving weight. The self-driving weight is equipped with a self-driving motor, which allows the self-driving weight to slide on the spiral slide rail to adjust the robot's center of gravity. The robot attitude control module has the following adjustment modes under different working conditions: crawling on the seabed, swimming in water, and driven by land rollers: When the robot is crawling on the seabed, the ballast tank is fully loaded, and the self-driving weight of the center of gravity adjuster is centered; when the robot is swimming in water, the ballast tank is empty, and the sliding of the self-driving weight of the center of gravity adjuster controls the robot's buoyancy, horizontal swimming, and diving swimming; when the robot is driven by land rollers, the ballast tank is empty, and the self-driving weight of the center of gravity adjuster is centered.

8. The amphibious multi-posture robot based on a frog structure according to claim 2, characterized in that, The connecting piping system consists of connecting flanges, connecting pipes, corrugated hoses, and connecting ports; wherein several spaced connecting pipes and corrugated hoses together form the flow channel between the storage and transportation robot and the grasping and collecting module; the connecting flanges and connecting ports are respectively located at both ends of the above flow channel.

9. The amphibious multi-posture robot based on a frog structure according to claim 8, characterized in that, The storage and transportation robot consists of a shell frame, an electromagnetic connection port, a jet pump thruster, a flow meter, and a power supply and control center. The electromagnetic connection port is used to connect to the connection port of the connecting pipe system. The jet pump thruster is located on the side of the shell frame away from the electromagnetic connection port and is used to provide suction to the flow channel. The flow meter is installed on the jet pump thruster and is used to monitor the flow rate at the tail end of the jet pump thruster. The magnitude of the flow rate is used to determine whether the storage and transportation robot is fully loaded. The power supply and control center are connected to the electromagnetic connection port, the jet pump thruster, and the flow meter, respectively.

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