Single-drive joint wheel-legged amphibious robot and its control method

Abstract

This invention provides a single-drive joint wheeled-leg amphibious robot and its control method. The robot includes a main body module, a left tilt-rotor power module, a right tilt-rotor power module, a left telescopic wheel-leg joint power module, a right telescopic wheel-leg joint power module, and electronic equipment. The control method includes a flight mode, a ground mode, and a transition mode. The flight mode includes forward and backward movement control, lifting and rolling motion control, and yaw motion control. The transition mode includes switching from ground motion mode to airborne flight mode and vice versa. This invention extends endurance and can be applied to missions such as road traffic monitoring, search and rescue in damaged buildings after disasters, exploration of unknown mines in the wild, geological exploration, and covert reconnaissance, and has significant meaning and value for the future.

Description

Technical Field

[0001] This invention relates to the fields of robotics and aerospace technology, specifically to a single-drive joint wheel-legged amphibious robot and its control method. Background Technology

[0002] In recent years, scholars both domestically and internationally have become increasingly enthusiastic about the research of amphibious robots. Wheeled-legged amphibious robots combine flight and ground mobility, offering greater adaptability to various terrains, higher flexibility, and simpler operation compared to other types of amphibious robots. With technological advancements, the high energy consumption and limited operating space of traditional unmanned aerial vehicles (UAVs) have become insufficient to meet the demands of performing diverse tasks in complex environments, necessitating the development of novel hybrid amphibious UAVs. The main development paths for amphibious robots include passive wheeled, active wheeled, and legged types.

[0003] Most passively wheeled amphibious drones utilize rotor thrust as their driving force in land-based locomotion, employing rolling wheels on the outer side of the fuselage or rotor to achieve ground movement. For example, the HyTAQ bimodal mobile robot uses a quadcopter for flight and a cylindrical cage-like shell for ground locomotion. Similarly, the SytaB land-air bimodal drone uses passive ball wheels around its rotors, increasing maneuverability and providing collision protection. Additionally, there is the Gemini II, a hybrid land-air amphibious vehicle with a single passive wheel at the bottom, enabling ground movement with the help of rotor thrust. Analysis of existing passive land-air amphibious robots reveals that their controllability in ground locomotion mode is limited. Due to the reliance on rotor power, they can only perform simple ground maneuvers, exhibiting low flexibility and thus not being truly amphibious robots.

[0004] Active-wheeled amphibious drones, because their ground-mode movement does not rely on rotor thrust for propulsion, not only reduce energy consumption but also cope with more complex environments and perform a wider range of tasks. For example, the multimodal mobile robot Morphobot can perform many functions such as flight, rolling, crawling, crouching, and balancing. Its versatile structure allows it to adapt to various complex environments and handle multiple tasks. However, its large overall size and complex structure also present challenges in manipulation, reducing its flexibility during mission execution. Another example is the hybrid land-air dual-modal robot DoubleBee, which uses a configuration of dual active wheels and vectored dual rotors. It can traverse unstructured environments, fly over obstacles, move under obstacles, and navigate rough terrain. However, its large size and weight mean that pitch changes require rotor thrust for balance, and its legs lack extendable joints. The dual active wheels alone cannot handle rough terrain; rotor thrust is essential for maintaining balance. Another type is the reconfigurable hybrid quadcopter, Flying Star. It has a servo motor on its fuselage controlling the extension mechanism, allowing the rotors to fold downwards at an extension angle of 0-55°. Two front motors have rear output shafts connected to gears, and the output is reduced in speed before being sent to the drive wheels. When moving on the ground, the rotors can be folded to meet its needs, and they can also be folded to reduce the span when traversing narrow spaces. Due to the special structure of its drive wheels, it cannot handle heavy loads, has limited maneuverability in ground mode, and cannot meet the requirements of complex terrain. Furthermore, the increased load on the rotor motors during ground movement results in unnecessary energy consumption. There are even amphibious robots that combine a four-wheel drive chassis with a multi-rotor, enabling active movement in ground mode, but their structures are relatively bulky and redundant.

[0005] Legged amphibious robots are more like humanoid robots. For example, the legged amphibious robot LEONARDO uses a quadcopter for flight and two retractable multi-joint legs for ground movement. It can perform actions that require high stability and coordination, such as walking, tightrope walking, and skateboarding. However, the legged structure inevitably brings disadvantages such as slow movement and difficult operation. At present, its development has not yet met the requirements for performing specific tasks. Summary of the Invention

[0006] To address the problems of existing technologies, this invention provides a single-drive joint wheeled-legged amphibious robot and its control method, which reduces energy consumption and extends endurance. It can be applied to various mission scenarios such as road traffic monitoring and command, search and rescue in damaged houses after disasters, exploration of unknown mines in the wild, geological exploration, covert reconnaissance, and long-term reconnaissance of outposts, and has significant meaning and value in the future.

[0007] This invention provides a single-drive joint wheel-leg amphibious robot, including a main body module, a left tilt rotor power module, a right tilt rotor power module, a left telescopic wheel-leg joint power module, a right telescopic wheel-leg joint power module, and electronic equipment;

[0008] The left tilt rotor power module and the right tilt rotor power module are distributed symmetrically in mirror image along both sides of the main fuselage module, and include a rotor assembly, a tilt assembly, and a servo assembly. The tilt assembly is fixedly connected to the main fuselage module, and the servo assembly includes a servo motor and a servo arm connected by a spline. The servo motor is mounted on the tilt assembly, and the servo arm is connected to the rotor assembly. The servo motor drives the entire rotor assembly to tilt around the tilt assembly through the servo arm.

[0009] The left and right telescopic wheel-leg joint power modules are symmetrically distributed on both sides of the main body module, including wheels, brushless motors, first motor support sleeves, second motor support sleeves, rear lower legs, front lower legs, active rocker arms, passive rocker arms, active gears, passive gears, servo discs, and leg servos. The brushless motor is mounted on the front lower leg, and the wheel is mounted on the output shaft of the brushless motor. The first and second motor support sleeves are coaxially mounted on the brushless motor, and the rear lower leg is coaxially mounted on the outer ring bearing of the first motor support sleeve. One end of the passive rocker arm is connected to the rear lower leg through a bearing, and the other end is connected to the passive gear through a bearing. The passive gear is fixedly connected to the main body module and meshes with the active gear. One end of the active rocker arm is connected to the front lower leg through a bearing, and the other end is connected to the active gear through a bearing. The active gear is coaxially mounted with a servo disc, and the leg servos are fixedly mounted on the main body module. The leg servos drive the active gear to rotate through the servo disc, thereby driving the driven gear, and together driving the entire telescopic wheel-leg joint power module to perform vertical telescopic movement.

[0010] In a further improvement, the main body module includes a body frame, a front baffle mounted on the front side of the body frame, a rear baffle mounted on the rear side, a top reinforcing plate, an internal partition, and a bottom sensor bracket, wherein a mounting plate is fixed on the partition.

[0011] In a further improvement, the rotor assembly specifically includes a motor mount, a brushless motor, and a propeller. The brushless motor is mounted on the motor mount, and the propeller is coaxially mounted on the brushless motor. The motor mount is connected to the tilting assembly via a carbon tube and can rotate freely around the axis.

[0012] In a further improvement, the tilt assembly includes a tilt fixing frame, a tilt group fixing component, and a connecting plate; the servo assembly includes a servo, a servo arm, and a servo mounting bracket. The servo is installed in the servo slot of the tilt fixing frame, the servo arm is installed in the servo arm mounting hole of the motor mount, and the servo mounting bracket is installed outside the servo and connected to the tilt fixing frame; the connecting plate is connected to the tilt fixing frame, and the tilt group fixing component is connected to the connecting plate.

[0013] Further improvements include the following electronic components: a flight controller, a development board, an electronic speed controller, a battery, a receiver, a power module, and a GPS positioning module. The flight controller is used to automatically control the stable flight of the aircraft. The development board is used to receive and transmit information sent by the flight controller to the ground moving parts. The electronic speed controller is used to power the brushless motor and adjust its speed. The battery is used to power the entire aircraft's power system and control system. The receiver is used to receive signals from the remote controller. The power module is used to measure the battery's voltage and current and to power the flight controller and development board. The GPS positioning module is used to receive GPS satellite information and to position and navigate the aircraft.

[0014] The present invention also provides a control method for a single-drive joint wheeled-legged amphibious robot, including flight mode, ground mode and transition mode;

[0015] The flight modes include forward and backward movement control, ascent and descent control, roll control, and yaw control.

[0016] In flight mode, the robot's forward and backward movement is controlled by the synchronized forward and backward tilting of the left and right pitch servos, driving the left and right power modules to generate longitudinal horizontal forces, thus moving the aircraft forward and backward. The lift-down movement is controlled by the synchronized increase and decrease of power from the left and right rotor motors, causing the aircraft to accelerate vertically, thereby achieving lift-down movement. The roll movement is controlled by the differential increase and decrease of power from the left and right rotor motors, generating roll torque, causing the fuselage to gradually tilt to one side, thus achieving roll movement. Roll movement generates lateral horizontal forces, thereby driving the aircraft to move laterally. The yaw movement is controlled by the differential yaw of the left and right pitch servos in opposite directions, driving the left and right power modules to generate horizontal forces in opposite directions, thereby achieving yaw movement.

[0017] The ground mode includes forward and backward movement control, steering motion control, lifting motion control, and rolling motion control;

[0018] In ground mode, the robot's forward and backward movement is controlled by tilting the body forward and backward at small angles. To maintain the posture at zero degrees, the foot motors need to generate forward or backward acceleration, thus enabling the robot to move forward and backward. The turning movement is achieved by the differential rotation of the left and right foot motors, creating a differential force. The lifting movement is controlled by the synchronous rotation of the left and right joint servo motors, which generates acceleration in the vertical direction, thus enabling lifting. The rolling movement is controlled by the asynchronous rotation of the left and right joint servo motors, which generates a rolling torque, causing the body to gradually tilt to one side, thus enabling rolling.

[0019] The transition modes include switching from ground motion mode to air flight mode and switching from air flight mode to ground motion mode.

[0020] The control method for the robot's transition between land and air modes in the aforementioned transition mode is as follows: In ground motion mode, the rotor motors are unlocked, the throttle is increased to increase thrust, and the robot takes off. It then enters an altitude detection mode, where a laser rangefinder sensor mounted on the bottom of the frame detects the distance between the robot and the ground. When the detected distance is greater than 0.2m, the four actuators in ground motion mode are deactivated, the lever is pushed to disable altitude detection, and the robot enters full air flight mode. The control method for air-to-land transition is as follows: When the robot is in air flight mode, the throttle of the rotor motors is reduced. When the distance from the ground reaches a certain small distance, the lever is pushed to enter a landing detection mode. When the detected distance from the ground is less than 0.2m, the four actuators in ground motion mode are activated, and the weight factor K of the four actuators increases with decreasing altitude, indicating a stronger actuator effect, until the robot lands. At this point, the lever is pushed to disable landing detection, and the robot enters full ground motion mode.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. The robot's ground motion component has only four actuators, with joint extension and retraction controlled by only two servo motors. This solves the problem of power redundancy, reduces energy loss, and extends endurance.

[0023] 2. The robot's motion control system uses a vector dual-rotor structure, which has higher power efficiency compared to traditional quadcopters;

[0024] 3. The robot has achieved cross-modal motion control in both ground and aerial modes, expanding its application range;

[0025] 4. The number of actuators has been reduced, the size of the robot has been reduced, the mechanical structure and control algorithm have been simplified, inspection and maintenance are easier, and the safety and reliability of the robot structure have been improved.

[0026] 5. A single-drive telescopic joint structure with gear transmission was designed, which has high transmission efficiency;

[0027] 6. Robots can be applied to various mission scenarios such as road traffic monitoring and command, search and rescue in damaged houses after disasters, exploration of unknown mines in the wild, geological exploration, covert reconnaissance, and long-term reconnaissance at outposts. They have important significance and value in the future. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a perspective view of the overall structure of the single-drive joint wheel-leg amphibious robot of the present invention.

[0030] Figure 2 This is a top view of the overall structure of the single-drive joint wheel-leg amphibious robot of the present invention.

[0031] Figure 3 This is a front view of the overall structure of the single-drive joint wheel-leg amphibious robot of the present invention.

[0032] Figure 4 This is a side view of the overall structure of the single-drive joint wheel-leg amphibious robot of the present invention.

[0033] Figure 5 This is a structural diagram of the main body module of the single-drive joint wheeled-leg amphibious robot of the present invention;

[0034] Figure 6 This is a schematic diagram of the left tilting rotor power module of the single-drive joint wheeled leg amphibious robot of the present invention;

[0035] Figure 7 This is a schematic diagram of the power module of the left telescopic wheel-leg joint of the single-drive joint amphibious robot of the present invention.

[0036] Figure 8 This is a schematic diagram of the electronic circuit system of the single-drive joint wheel-leg amphibious robot of the present invention.

[0037] In the attached diagram: 1. Main fuselage module; 2. Left tilt rotor power module; 3. Right tilt rotor power module; 4. Left telescopic wheel joint power module; 5. Right telescopic wheel joint power module; 6. Electronic equipment; 101. Reinforcing plate; 102. Mounting plate; 103. Partition plate; 104. Airframe; 105. Thrust bearing; 106. Front baffle; 107. Sensor mounting bracket; 108. Flange bearing; 109. Rear baffle; 201. Servo mounting bracket; 202. Tilting servo; 203. Rudder arm; 204. Tilting assembly fixing component; 205. Tilting fixing frame; 206. Carbon fiber tube; 207. Connecting plate; 208. Motor mount; 20 9. Rotor motor; 210. Propeller clip; 401. Passive gear; 402. Active rocker stick; 403. Wheel; 404. Passive rocker stick; 405. First motor support sleeve; 406. Left rear leg; 407. Threaded screw; 408. Second motor support sleeve; 409. Brushless motor; 410. Articulated servo; 411. Rolling bearing; 412. Rudder disc; 413. Drive gear; 414. Left front leg; 601. Flight controller; 602. Development board; 603. 2s lithium battery; 604. Power module; 605. 6s lithium battery; 606. 4-in-1 ESC; 607. ESC; 608. Receiver; 609. GPS positioning module. Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] This invention provides a single-drive joint wheeled-leg amphibious robot, comprising a main body module 1, a left tilt rotor power module 2, a right tilt rotor power module 3, a left telescopic wheel-leg joint power module 4, a right telescopic wheel-leg joint power module 5, and other electronic devices 6.

[0040] The main body module 1 includes a reinforcing plate 101, a mounting plate 102, a partition plate 103, a body frame 104, a thrust bearing 105, a front baffle 106, a sensor mounting bracket 107, a flange bearing 108, and a rear baffle 109. The reinforcing plate 101 and the body frame 104 are connected by four M2.5×16 screws, which pass through the screw holes in both the reinforcing plate 101 and the body frame 104. Four M2.5 nuts are then used to secure and lock them together. The partition plate 103 and the mounting plate 102 are connected by four M2.5×20 single-ended studs. Four M2.5×6 screws pass through the screw holes in the mounting plate 102 and the threaded holes in the studs to secure the connection. Four M2.5 nuts are then used to lock the connection to the single-ended studs. This assembly forms a frame that can accommodate an ESC and a receiver. The partition 103 is installed inside the body frame 104 and fastened with four M1.9×4 self-tapping screws. The thrust bearing 105 and flange bearing 108 are installed in the mounting holes on both sides of the body frame 104. The front baffle 106 is installed at the front of the body frame 104 and connected with four M1.9×4 self-tapping screws. The rear baffle 109 is also connected to the body frame 104 with four M1.9×4 self-tapping screws. The sensor mounting bracket 107 is installed at the bottom of the body frame 104 and locked with four M2.5×10 screws and four nuts. This assembly forms a complete main body module.

[0041] The left tilt rotor power module 2 includes a servo mount 201, a tilt servo 202, a rudder arm 203, a tilt assembly mount 204, a tilt mounting frame 205, a carbon fiber tube 206, a connecting plate 207, a motor mount 208, a rotor motor 209, a propeller clip 210, etc. The rotor motor 209 is fixedly connected to the motor mount 208 with four M3×8 screws, and the propeller clip 210 is coaxially mounted on the rotor motor 209. Two rolling bearings are interference-fitted with the mounting holes of the motor mount 208, and another two rolling bearings are interference-fitted with the mounting holes of the tilt mounting frame 205. The carbon fiber tube 206 coaxially engages with the inner rings of the four rolling bearings, allowing the motor mount 208 to rotate around its axis. The rudder arm 203 is installed in the mounting slot of the motor mount 208 and connected to the tilt servo 202 via a spline, enabling the motor mount 208 to rotate around its axis. The servo motor 202 is installed in the mounting slot of the tilt-fixed frame 205 and fixed by the servo motor mounting bracket 201. It is secured to the tilt-fixed frame 205 using two M2.5×12 screws and nuts, and then secured to the tilt-fixed frame 205 using two M2.5x12 screws passing through the upper mounting holes of the tilt servo motor 202 and connected to the nuts. The tilt-fixed frame 205 and the tilt assembly fixing component 204 are connected by two connecting plates 207 and secured with nuts using three M2.5×25 screws passing through the screw holes. This assembly forms the left tilt rotor power module. By using two M2.5×16 screws passing through the screw holes of the tilt assembly fixing component 204, the reinforcing plate 101, and the fuselage frame 104 and locking them to nuts, the left tilt rotor power module 2 is installed on the left side of the main fuselage module 1. The structure of the right tilt rotor power module 3 is exactly the same as that of the left tilt rotor power module 2, and it is mounted mirror-image on the right end of the main fuselage module 1.

[0042] The left telescopic wheel joint power module 4 includes a passive gear 401, an active rocker arm 402, a wheel 403, a passive rocker arm 404, a first motor support sleeve 405, a left rear lower leg 406, a male and female screw 407, a second motor support sleeve 408, a brushless motor 409, a joint servo motor 410, a rolling bearing 411, a servo disc 412, an active gear 413, and a left front lower leg 414. The first motor support sleeve 405 and the second motor support sleeve 408 are coaxially fitted and fastened together by four M1.5×8 self-tapping screws. The corresponding rolling bearing 411 is mounted on the first motor support sleeve 405. The left rear lower leg 406 is interference-fitted with the rolling bearing 411. The brushless motor 409 is coaxially mounted in the second motor support sleeve 408 and mates with the mounting groove of the left front lower leg 414, and is fixedly connected by three M3×6 screws. The wheel 403 is mounted on the output shaft of the brushless motor 409. Four flange bearings are installed in the mounting holes of the left front lower leg 414, left rear lower leg 406, passive rocker arm 404, and active rocker arm 402, and are fixedly connected by screws 407 passing through the inner rings of the flange bearings. The passive rocker arm 404 is coaxially mounted with the driven gear 401 and locked with four M2.5×8 screws and nuts. A flange bearing is installed in the mounting hole of the passive rocker arm 404, and the screws 407 pass through the inner hole of the flange bearing and are installed in the mounting hole at the left end of the main body module 1. The active rocker arm 402 is coaxially mounted with the drive gear 413 and is fixedly connected by four M2.5×8 screws and nuts. The rudder disc 412 is installed in the mounting hole of the drive gear 413 and is fastened to the active rocker arm 402 with four M2.5×6 screws. The servo disc 412 is connected to the output shaft of the joint servo 410 via a spline, enabling it to drive the drive gear 413 to rotate around the shaft. The four mounting holes of the joint servo 410 are respectively connected to the servo mounting slot at the left end of the main body module 1 via M2.5×8 screws, and are secured with nuts. This assembly forms the left telescopic wheel leg joint power module 4. The right telescopic wheel leg joint power module 5 has the same structure as the left telescopic wheel leg joint power module 4, and is mirror-mounted at the right end of the main body module 1.

[0043] The other electronic devices 6 include a flight controller 601, a development board 602, a 2s lithium battery 603, a power module 604, a 6s lithium battery 605, a four-in-one ESC 606, an ESC 607, a receiver 608, and a GPS positioning module 609. The flight controller 601 is used for stable flight control in automatic flight mode. The four-in-one ESC 606 is used to power the brushless rotor motors and adjust their speed. The ESC 607 is used to power the leg motors and adjust their speed. The 6s lithium battery 605 powers the motors and control system of the entire robot. The 2s lithium battery powers the servo motors of the entire robot. The receiver 608 receives signals from the remote controller. The power module 608 measures the battery voltage and current and powers the flight controller. The GPS positioning module 609 receives GPS satellite information and provides positioning and navigation for the robot.

[0044] This invention also provides a single-drive joint wheeled-legged amphibious robot and its control method. The main feature of the robot described in this invention is its ability to move under complex ground conditions and in the air. Specifically, it can achieve rapid maneuvering on flat surfaces and stable movement on rough terrain, as well as stable flight in the air. In ground movement mode, it has four actuators: two joint servos and two leg motors. The main function of the joint servos is to realize the extension and retraction of the joints, while the leg motors realize ground movement. In flight mode, it has four actuators: two vector tilt servos and two rotor motors. Changing the direction of the rotor motor's thrust achieves changes in flight attitude, specifically pitch, yaw, and roll control.

[0045] In flight mode, the robot's forward and backward movement is controlled by the synchronized forward and backward tilting of the left and right pitch servos, driving the left and right power modules to generate longitudinal horizontal forces, thus moving the aircraft forward and backward. The lift-down movement is controlled by the synchronized increase and decrease of power from the left and right rotor motors, causing the aircraft to accelerate vertically, thereby achieving lift-down movement. The roll movement is controlled by the differential increase and decrease of power from the left and right rotor motors, generating roll torque, causing the fuselage to gradually tilt to one side, achieving roll movement. Roll movement generates lateral horizontal forces, thus driving the aircraft to move laterally. The yaw movement is controlled by the differential yaw of the left and right pitch servos in opposite directions, driving the left and right power modules to generate horizontal forces in opposite directions, thereby achieving yaw movement.

[0046] In ground mode, the robot's forward and backward movement is controlled by tilting the body forward or backward at a small angle. To maintain the robot's posture at zero degrees, the foot motors need to generate forward or backward acceleration, thus enabling the robot's forward and backward movement. The turning motion is achieved by differential rotation of the left and right foot motors, creating a differential force. The lifting motion is controlled by synchronous rotation of the left and right joint servo motors, generating vertical acceleration and achieving lifting. The rolling motion is controlled by asynchronous rotation of the left and right joint servo motors, generating a rolling torque that gradually tilts the robot to one side, achieving rolling.

[0047] In transition mode, the robot can switch between ground movement mode and aerial flight mode. The ground-to-air transition control method involves unlocking the rotor motors in ground movement mode, increasing the throttle to increase thrust for takeoff, and then entering altitude detection mode. A laser rangefinder sensor mounted on the bottom of the frame detects the distance between the robot and the ground. When the detected distance is greater than 0.2m, the four actuators in ground movement mode are deactivated, the lever is pushed to disable altitude detection, and the robot enters full aerial flight mode. The air-to-ground transition control method involves reducing the throttle of the rotor motors in aerial flight mode. When the robot reaches a certain distance from the ground, the lever is pushed to enter landing detection mode. When the detected altitude is less than 0.2m, the four actuators in ground movement mode are activated, and the weight factor K of the four actuators increases with decreasing altitude, meaning the effect of the four actuators becomes stronger, until the robot lands. At this point, the lever is pushed to disable landing detection, and the robot enters full ground movement mode.

[0048] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, for the device embodiments, the above descriptions are merely preferred embodiments of the present invention. Since they are fundamentally similar to the method embodiments, the descriptions are relatively simple, and relevant parts can be referred to the descriptions of the method embodiments. The above descriptions are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention, without departing from the principle of the present invention, should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A single-drive joint wheel-legged amphibious robot, characterized in that: It includes the main body module, the left tilt rotor power module, the right tilt rotor power module, the left telescopic wheel leg joint power module, the right telescopic wheel leg joint power module, and electronic equipment; The left tilt rotor power module and the right tilt rotor power module are distributed symmetrically in mirror image along both sides of the main fuselage module, and include a rotor assembly, a tilt assembly, and a servo assembly. The tilt assembly is fixedly connected to the main fuselage module, and the servo assembly includes a servo motor and a servo arm connected by a spline. The servo motor is mounted on the tilt assembly, and the servo arm is connected to the rotor assembly. The servo motor drives the entire rotor assembly to tilt around the tilt assembly through the servo arm. The left and right telescopic wheel-leg joint power modules are symmetrically distributed on both sides of the main body module, including wheels, brushless motors, first motor support sleeves, second motor support sleeves, rear lower legs, front lower legs, active rocker arms, passive rocker arms, active gears, passive gears, servo discs, and leg servos. The brushless motor is mounted on the front lower leg, and the wheel is mounted on the output shaft of the brushless motor. The first and second motor support sleeves are coaxially mounted on the brushless motor, and the rear lower leg is coaxially mounted on the outer ring bearing of the first motor support sleeve. One end of the passive rocker arm is connected to the rear lower leg through a bearing, and the other end is connected to the passive gear through a bearing. The passive gear is fixedly connected to the main body module and meshes with the active gear. One end of the active rocker arm is connected to the front lower leg through a bearing, and the other end is connected to the active gear through a bearing. The active gear is coaxially mounted with a servo disc, and the leg servos are fixedly mounted on the main body module. The leg servos drive the active gear to rotate through the servo disc, thereby driving the driven gear, and together driving the entire telescopic wheel-leg joint power module to perform vertical telescopic movement.

2. The single-drive joint wheel-legged amphibious robot according to claim 1, characterized in that: The main body module includes a body frame, a front baffle installed on the front side of the body frame, a rear baffle installed on the rear side, a top reinforcing plate, an internal partition, and a bottom sensor bracket, wherein a mounting plate is fixed on the partition.

3. The single-drive joint wheel-legged amphibious robot according to claim 1, characterized in that: The rotor assembly specifically includes a motor mount, a brushless motor, and a propeller. The brushless motor is mounted on the motor mount, and the propeller is coaxially mounted on the brushless motor. The motor mount is connected to the tilting assembly via carbon tubes and can rotate freely around the axis.

4. The single-drive joint wheel-legged amphibious robot according to claim 3, characterized in that: The tilt assembly includes a tilt fixing frame, a tilt group fixing component, and a connecting plate. The servo assembly includes a servo, a servo arm, and a servo mounting bracket. The servo is installed in the servo slot of the tilt fixing frame, the servo arm is installed in the servo arm mounting hole of the motor mount, and the servo mounting bracket is installed outside the servo and connected to the tilt fixing frame. The connecting plate is connected to the tilt fixing frame, and the tilt group fixing component is connected to the connecting plate.

5. The single-drive joint wheel-legged amphibious robot according to claim 1, characterized in that: The electronic equipment includes a flight controller, a development board, an electronic speed controller, a battery, a receiver, a power module, and a GPS positioning module. The flight controller is used to automatically control the stable flight of the aircraft. The development board is used to receive and send information sent by the flight controller to the ground moving parts. The electronic speed controller is used to power the brushless motor and adjust its speed. The battery is used to power the power system and control system of the entire aircraft. The receiver is used to receive signals from the remote controller. The power module is used to measure the voltage and current of the battery and to power the flight controller and the development board. The GPS positioning module is used to receive GPS satellite information and to locate and navigate the aircraft.

6. A control method for a single-drive joint wheeled-legged amphibious robot, characterized in that... The wheeled-legged amphibious robot with a single drive joint as described in claim 1 includes a flight mode, a ground mode, and a transition mode. The flight modes include forward and backward movement control, ascent and descent control, roll motion control, and yaw motion control. The ground mode includes forward and backward movement control, steering motion control, lifting motion control, and rolling motion control; The transition modes include switching from ground motion mode to air flight mode and switching from air flight mode to ground motion mode.

7. The control method for the single-drive joint wheeled-legged amphibious robot according to claim 6, characterized in that: In flight mode, the robot's forward and backward movement is controlled by the synchronized forward and backward tilting of the left and right pitch servos, driving the left and right power modules to generate longitudinal horizontal forces, thus moving the aircraft forward and backward. The lift-down movement is controlled by the synchronized increase and decrease of power from the left and right rotor motors, causing the aircraft to accelerate vertically, thereby achieving lift-down movement. The roll movement is controlled by the differential increase and decrease of power from the left and right rotor motors, generating roll torque, causing the fuselage to gradually tilt to one side, thus achieving roll movement. Roll movement generates lateral horizontal forces, thereby driving the aircraft to move laterally. The yaw movement is controlled by the differential yaw of the left and right pitch servos in opposite directions, driving the left and right power modules to generate horizontal forces in opposite directions, thereby achieving yaw movement.

8. The control method for the single-drive joint wheeled-legged amphibious robot according to claim 6, characterized in that: In ground mode, the robot's forward and backward movement is controlled by tilting the body forward and backward at small angles. To maintain the posture at zero degrees, the foot motors need to generate forward or backward acceleration, thus enabling the robot to move forward and backward. The turning movement is achieved by the differential rotation of the left and right foot motors, creating a differential force. The lifting movement is controlled by the synchronous rotation of the left and right joint servo motors, which generates acceleration in the vertical direction, thus enabling lifting. The rolling movement is controlled by the asynchronous rotation of the left and right joint servo motors, which generates a rolling torque, causing the body to gradually tilt to one side, thus enabling rolling.

9. The control method for the single-drive joint wheeled-legged amphibious robot according to claim 6, characterized in that: The control method for the robot's transition between land and air modes in the aforementioned transition mode is as follows: In ground motion mode, the rotor motors are unlocked, the throttle is increased to increase thrust, and the robot takes off. After leaving the ground, it enters altitude detection mode. A laser rangefinder sensor installed at the bottom of the frame detects the distance between the robot and the ground. When the detected distance is greater than 0.2m, the four actuators in ground motion mode are deactivated, the lever is pushed to deactivate altitude detection, and the robot enters full air flight mode. The control method for air-to-land transition is as follows: When the robot is in air flight mode, the throttle of the rotor motors is reduced. When the distance from the ground is reduced to a certain small distance, the lever is pushed to enter landing detection mode. When the detected distance from the ground is less than 0.2m, the four actuators in ground motion mode are activated. As the altitude decreases, the weight factor K of the four actuators increases, and the effect of the actuators becomes stronger until the robot lands on the ground. At this point, the lever is pushed to deactivate the landing detection function, and the robot enters full ground motion mode.

Images