A morphing amphibious robot and a control method thereof

Abstract

The present application relates to the field of amphibious robots, and discloses a morphologically convertible amphibious robot and a control method thereof. The amphibious robot comprises a main machine, a leg device and a paddle wheel device. The leg device is symmetrically arranged on both sides of the main machine, and the paddle wheel device is arranged at the end of the leg device. The main machine comprises a main machine float, a control mainboard and a battery. The control mainboard and the battery are arranged in the main machine float. The control method comprises the following steps: land walking state, transition state from land to water operation, water suspension, floating or diving state, motion state switching, switching between different depths underwater, water advancing along an inclined surface state, and vertical water advancing state. The present application can switch the morphology according to different water environments, has strong adaptability, high motion efficiency, strong adaptability to different water environments, and can complete the operation requirements in complex water environments.

Description

Technical Field

[0001] This invention relates to the field of amphibious robots, and in particular to an amphibious robot with a changeable form and its control method. Background Technology

[0002] Robotics technology has wide applications in human life today. For example, in the civilian sector, robots are widely used in disaster relief, environmental monitoring, equipment maintenance, and replacement. In these tasks, robots can replace human operators. Existing mobile robots mainly employ three modes of locomotion: wheeled, tracked, and legged. Wheeled robots are characterized by high speed and efficiency, and the technology is relatively mature, but their obstacle-crossing ability is poor, and they cannot adapt to complex mountainous and hilly environments. Tracked robots have strong terrain adaptability and a compact structure, but they suffer from drawbacks such as heavy weight, high frictional resistance, and high energy consumption. Legged robots have good mobility and strong obstacle-crossing ability, but their autonomous control is complex.

[0003] Amphibious robots combine the features of land-based mobile robots and water-based robots, possessing the dual advantages of land-based mobile robots' strong adaptability to terrain and water-based robots' stable operation and high speed, enabling continuous and stable operation in both land and water environments.

[0004] Existing amphibious robots have a single form in water and cannot switch forms according to different aquatic environments, resulting in poor adaptability and reduced movement efficiency. Moreover, compared with crawling robots, they are less adaptable to different terrains and cannot meet the operational requirements of complex aquatic environments. Therefore, we provide a morphologically changeable amphibious robot and its control method, which can adapt to different aquatic environments by changing its form in water. Summary of the Invention

[0005] The purpose of this invention is to solve the problems in the prior art described above, and to provide a morphologically changeable amphibious robot.

[0006] A morphologically changeable amphibious robot includes a main unit, leg units, and propeller units. The leg units are symmetrically arranged on both sides of the main unit, and the propeller units are located at the ends of the leg units.

[0007] The host includes a host float, a control motherboard and a battery, with the control motherboard and battery disposed within the host float.

[0008] The leg device includes a thigh component and a lower leg component. The thigh component can swing back and forth around the main unit. The front end of the lower leg component is connected to the end of the thigh component and can swing back and forth relative to the thigh component. The end of the lower leg component has a leg float. The front end of the connecting rod inside the thigh device is connected to the crank, and the rear end is hinged to the lower leg device.

[0009] The propeller assembly is located at the end of the lower leg component and is connected to the leg float via a hub mounting plate. It includes a wheel rim for land walking, a propeller blade for underwater propulsion, a servo motor, and an underwater motor. The hub mounting plate is connected to the leg float via the servo motor. The wheel rim is rotatably mounted on the hub mounting plate via the underwater motor, and the propeller blade is located inside the wheel rim.

[0010] The leg device is connected to the main unit via a rotary joint. The output axis of the rotary joint is parallel to the central axis of the main unit's cylinder, allowing the robot's leg device to swing back and forth relative to the main unit while also swinging left and right relative to the main unit.

[0011] The first drive joint of the lower leg component and the second drive joint of the thigh component are both located at the front end of the thigh component. The first drive joint drives the crank to swing, and the second drive joint drives the thigh component to swing. The first drive joint and the second drive joint are connected to the rotary joint through a U-shaped fastener. The mounting surface of the U-shaped fastener and the motor makes the axes of the output shafts of the first drive joint and the second drive joint coincide and are perpendicular to the axis of the output shaft of the rotary joint.

[0012] A control method for a morphologically changeable amphibious robot includes the following steps:

[0013] 1. Land walking state: When the robot walks on land, the rotation joints are fixed, and the thigh and lower leg components are in the vertical plane. By controlling the first and second drive joints, the leg device can be folded or extended to adapt to different ground environments. By folding and extending the leg device, straddle walking can also be achieved. By rotating the underwater motor, the robot can move on the ground.

[0014] II. Transition from land to water operation: When on land, the robot can walk in a wheeled or wheel-legged manner by controlling the underwater motor, the first drive joint and the second drive joint.

[0015] In the mudflat terrain between land and water, the robot can lock the wheel frame by fixing the underwater motor, and walk across the complex terrain to reach the water by controlling the first drive joint and the second drive joint.

[0016] When the water becomes deeper, by adjusting the rotation joints of the two leg devices on the front side of the main body, the front thigh and lower leg devices can be brought to the horizontal plane. By adjusting the servo motors of the two propeller devices on the front side, the propellers are made to move vertically downward to provide buoyancy. At this time, the robot only uses the legs on the rear side of the main body to move forward, which is a bipedal walking mode.

[0017] When the water is deep enough, the robot can adjust the rotating joints on the back of the main unit to make the rear leg devices level, so that the robot is in a floating state. After stabilizing, it can switch to forward mode to move underwater.

[0018] 3. Suspension, floating or submerging in water: By controlling the rotation joints, the planes of the robot's thigh and lower leg components can be made horizontal. By adjusting the first drive joint and the second drive joint, the leg device can extend away from the main unit.

[0019] By controlling the servo motor, the propeller device 3 can be adjusted to be vertically downward or vertically upward. By controlling the speed of the underwater motor, the robot can achieve various different movements in the water, such as hovering, floating, and sinking.

[0020] IV. Motion state switching: When the robot is in an underwater operation scenario, the two leg devices and the propeller device located at the rear of the main unit are adjusted by the first drive joint, the second drive joint and the servo motor to make the leg devices extend backward and the propeller device face the rear of the main unit.

[0021] The robot's buoyancy in water is provided by extending its two front legs and propellers to the sides of the main unit and pointing the propellers upwards towards the main unit.

[0022] By adjusting the servo motor of the propeller assembly at the rear of the main unit, the direction of the propeller assembly toward the rear or side of the main unit can be adjusted, thereby enabling the robot to switch between two modes: rapid underwater forward movement and rapid on-the-spot change of direction.

[0023] V. Switching between different underwater depths: By rotating the rotary joints of the two leg devices on the front side of the main unit, each part of the robot's front leg device can move into the horizontal plane. By adjusting the first drive joint and the second drive joint, the leg device can extend or retract to the outside of the main unit. When extended, it can improve the robot's balance performance, and when retracted, it can pass through narrower areas.

[0024] By rotating the servo motor of the propeller device, the propeller device can face the side of the main unit or vertically upward or downward. Adjusting the speed of the underwater motor can adjust the thrust provided by the propeller, enabling the robot to switch between three movement modes: horizontal movement, upward movement, and deep movement underwater.

[0025] VI. Underwater forward movement along an inclined plane: By adjusting the rotary joint, the first drive joint and the second drive joint, the leg assembly of the robot's four legs extends away from the robot's body and the thigh and lower leg components of the four legs are in the same plane;

[0026] Adjust the servo motor to rotate the propeller wheel mechanism of the two legs on the front side of the main body to face upwards and the propeller wheel mechanism of the two legs on the rear side of the main body to face downwards. By adjusting the underwater motor, the propeller wheel mechanism on the front and rear sides generates thrust in opposite directions, and the generated torque makes the robot rotate around the horizontal axis.

[0027] When the robot rotates until its main axis is perpendicular to the inclined plane, the orientation of the propeller mechanism on the front or rear side of the main body is adjusted by the servo motor so that the propeller mechanism of the four legs can generate thrust in the same direction.

[0028] VII. Underwater Vertical Forward Movement: In the hovering state, by adjusting the servo motors of the propeller wheels on the left side of the main engine, the propeller wheels are rotated 180°. At this time, the propeller wheels on both sides of the main engine face opposite directions, and the thrust directions are opposite. The main engine can rotate around its axis to a vertical position.

[0029] By adjusting the servo, the propeller assembly is oriented towards the rear of the main engine, providing forward thrust.

[0030] The beneficial effects of this invention are:

[0031] The amphibious robot of this invention has multiple forms and can switch forms according to different aquatic environments. It is highly adaptable, has high movement efficiency, and is highly adaptable to different aquatic environments. It can meet the operational requirements in complex aquatic environments and is suitable for wide application. Attached Figure Description

[0032] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0033] Figure 2 This is a schematic diagram of the main unit of the present invention;

[0034] Figure 3 This is the rear view of the invention;

[0035] Figure 4 This is a schematic diagram of the leg device of the present invention;

[0036] Figure 5 This is a schematic diagram of the device in its land-walking state;

[0037] Figure 6 This is a schematic diagram of the leg device of this invention in its retracted state;

[0038] Figure 7 This is a schematic diagram of the transitional state of the operation from land to water in this invention;

[0039] Figure 8 This is a schematic diagram of the present invention in its suspended state in water;

[0040] Figure 9 This is a schematic diagram of the propulsion state of this device;

[0041] Figure 10 This is a schematic diagram of the underwater forward movement along the slope of this invention;

[0042] Figure 11 This is a top view of the device in its propulsion state;

[0043] Figure 12 This is a schematic diagram of the underwater vertical forward movement of this device. Detailed Implementation

[0044] Please see Figures 1 to 12 As shown, a shape-changing amphibious robot includes a main unit 1, leg devices 2 and paddle wheel devices 3. The leg devices 2 are symmetrically arranged on both sides of the main unit 1, and the paddle wheel devices 3 are arranged at the ends of the leg devices 2.

[0045] Specifically, the main unit 1 is used to control the posture and operation of the leg device 2 and the paddle wheel device 3. There are four sets of leg devices 2, which are symmetrically installed on both sides of the main unit 1. The leg devices 2 can perform walking actions, and the paddle wheel device 3 can be used for walking and propulsion.

[0046] The host 1 includes a host float 101, a control motherboard 102 and a battery 103, with the control motherboard 102 and the battery 103 disposed inside the host float 101;

[0047] The leg device 2 includes a thigh component 201 and a lower leg component 202. The thigh component 201 can swing back and forth around the main unit 1. The front end of the lower leg component 202 is connected to the end of the thigh component 201 and can swing back and forth relative to the thigh component. The lower leg component 202 has a leg float 203 at its end. The front end of the connecting rod 204 inside the thigh device 201 is connected to the crank 205, and the rear end is hinged to the lower leg device 202.

[0048] The propeller device 3 is located at the end of the lower leg component 202 and is connected to the leg float 203 via a hub fixing plate 301. It includes a wheel frame 302 for land walking, a propeller blade 303 for underwater propulsion, a servo motor 305, and an underwater motor 304. The hub fixing plate 301 is connected to the leg float 203 via the servo motor 305. The wheel frame 302 is rotatably mounted on the hub fixing plate 301 via the underwater motor 304, and the propeller blade 303 is located inside the wheel frame 302.

[0049] Specifically, the servo motor 305 is a servo motor. The rotation of the servo motor spindle changes the direction of the wheel hub fixing plate 301. The rotation of the underwater motor 304 spindle rotates the wheel frame 302, providing thrust for the robot in the water. The servo motor 305 and the underwater motor 304 have braking functions, which can ensure the stability of the wheel frame 302 when walking on land.

[0050] The leg device 2 is connected to the host 1 via a rotary joint 207. The output axis of the rotary joint 207 is parallel to the central axis of the cylinder of the host 1, so that the robot leg device 2 can swing left and right relative to the host while swinging back and forth relative to the host.

[0051] The first drive joint 208 of the lower leg component 202 and the second drive joint 209 of the thigh component 201 are both located at the front end of the thigh component 201. The first drive joint 208 drives the crank 205 to swing, and the second drive joint 209 drives the thigh component 201 to swing. The first drive joint 208 and the second drive joint 209 are connected to the rotary joint 207 through a U-shaped fastener 206. The U-shaped fastener 206 and the mounting surface of the motor make the axes of the output shafts of the first drive joint 208 and the second drive joint 209 coincide and be perpendicular to the axis of the output shaft of the rotary joint 207.

[0052] Specifically, the second drive joint 209 drives the thigh component 201 to swing back and forth, and the first drive joint 208 drives the lower leg component 202 to swing back and forth through the crank 205, thereby completing the robot's walking action on land.

[0053] A control method for a morphologically changeable amphibious robot includes the following steps:

[0054] 1. Land walking state: When the robot walks on land, the rotary joint 207 is fixed, the thigh component 201 and the lower leg component 202 are in the vertical plane. By controlling the first drive joint 208 and the second drive joint 209, the leg device 2 can be folded or extended to adapt to different ground environments. The folding and extension of the leg device 2 can also enable straddle walking. By rotating the underwater motor 304, the robot can move on the ground.

[0055] II. Transition from land to water operation: When on land, the robot can walk in a wheeled or wheel-footed manner by controlling the underwater motor 304, the first drive joint 208, and the second drive joint 209.

[0056] In the mudflat terrain between land and water, the robot can lock the wheel frame 302 by fixing the underwater motor 304, and walk across the complex terrain to reach the water surface by controlling the first drive joint 208 and the second drive joint 209.

[0057] When the water becomes deeper, by adjusting the rotation joints 207 of the two leg devices 2 on the front side of the main unit 1, the thigh device 201 and the lower leg device 202 on the front side can reach the horizontal plane. By adjusting the servo motors 305 of the two propeller devices 3 on the front side, the propellers can be made to provide buoyancy vertically downward. At this time, the robot only uses the legs on the rear side of the main unit 1 to move forward, which is a bipedal walking mode.

[0058] When the water is deep enough, the robot can adjust the rotating joint 207 on the rear side of the main unit 1 to make the rear leg device 2 horizontal, so that the robot is in a floating state. After stabilizing, it can switch to forward mode to move underwater.

[0059] III. Suspended, floating or submerged in water: By controlling the rotation joint 207, the planes of the robot's thigh component 201 and lower leg component 202 are made horizontal. By adjusting the first drive joint 208 and the second drive joint 209, the leg device 2 can extend away from the host 1.

[0060] By controlling the servo motor 305, the propeller device 3 can be adjusted to be vertically downward or vertically upward. By controlling the rotation speed of the underwater motor 304, the robot can achieve various different movements in the water, such as hovering, floating, and sinking.

[0061] IV. Motion state switching: When the robot is in an underwater operation scenario, the two leg devices 2 and the propeller device 3 located at the rear of the main unit are adjusted by the first drive joint 208, the second drive joint 209 and the servo motor 305 to make the leg devices 2 extend backward and the propeller device 3 face the rear of the main unit 1.

[0062] The robot can be provided with buoyancy in water by extending to both sides of the main unit 1 through the two front leg devices 2 and the propeller device 3 and pointing the propeller device 3 upwards towards the main unit;

[0063] By adjusting the servo motor 305 of the propeller device 3 on the rear side of the main unit 1, the direction of the propeller device 3 toward the rear or side of the main unit 1 can be adjusted, thereby realizing the switching between two modes of the robot: rapid underwater forward movement and rapid on-the-spot change of direction.

[0064] V. Switching between different underwater depths: By rotating the rotation joints 207 of the two leg devices 2 on the front side of the main unit 1, each part of the front leg device 2 of the robot can move into the horizontal plane. By adjusting the first drive joint 208 and the second drive joint 209, the leg device 2 can extend or retract to the outside of the main unit 1. When extended, it can improve the robot's balance performance, and when retracted, it can pass through narrower areas.

[0065] By rotating the servo motor 305 of the propeller device 3, the propeller device 3 can face the side of the host 1 or move vertically upward or downward. Adjusting the speed of the underwater motor 304 can adjust the thrust provided by the propeller, enabling the robot to switch between three movement modes: horizontal movement, upward movement, and deep movement underwater.

[0066] VI. Underwater forward movement along an inclined plane: By adjusting the rotary joint 207, the first drive joint 208 and the second drive joint 209, the leg devices 2 of the robot's four legs extend away from the robot body and make the thigh parts 201 and the lower leg parts 202 of the four legs in the same plane.

[0067] Adjust the servo motor 305 to rotate the paddle wheel mechanism of the two legs on the front side of the main unit 1 to face upwards towards the main unit 1, and rotate the paddle wheel mechanism of the two legs on the rear side of the main unit 1 to face downwards towards the main unit 1. By adjusting the underwater motor 304, the paddle wheel mechanism on the front and rear sides generates thrust in opposite directions, and the generated torque causes the robot to rotate around the horizontal axis.

[0068] When the robot host 1 is rotated to the point where its axis is perpendicular to the inclined plane, the orientation of the paddle wheel mechanism 3 on the front or rear side of the host 1 is adjusted by the servo motor 305 so that the paddle wheel mechanism of the four legs can generate thrust in the same direction.

[0069] VII. Underwater Vertical Forward Movement: In the suspended state, by adjusting the servo motor 305 of the propeller wheel device 3 on the left side of the main engine 1, the propeller wheel device is rotated 180°. At this time, the propeller wheel devices on both sides of the main engine 1 face opposite directions and the thrust directions are opposite. The main engine 1 can rotate around the axis to a vertical position.

[0070] By adjusting the servo motor 305, the propeller assembly is oriented towards the rear of the main engine 1, providing forward thrust.

Claims

1. A control method of a morphologically transformable amphibious robot, characterized by: The amphibious robot includes a main body (1), leg devices (2) symmetrically arranged on both sides of the main body (1), and paddle wheel devices (3) arranged at the ends of the leg devices (2). The main body (1) includes a main body float (101), a control mainboard (102), and a battery (103), and the control mainboard (102) and the battery (103) are arranged in the main body float (101). The leg device (2) includes a thigh part (201) and a shank part (202), the thigh part (201) can swing forward and backward around the main body (1), the front end of the shank part (202) is connected to the end of the thigh part (201) and can swing forward and backward relative to the thigh part, the end of the shank part (202) is provided with a leg float (203), a connecting rod (204) in the thigh part (201) is connected to a crank (205) at the front end and is hingedly connected to the shank part (202) at the rear end. The paddle wheel device (3) is arranged at the end of the shank part (202), is connected to the leg float (203) through a wheel hub fixing disc (301), and includes a wheel frame (302) for land walking, a paddle (303) for underwater propulsion, a rudder (305), and an underwater motor (304), the wheel hub fixing disc (301) is connected to the leg float (203) through the rudder (305), the wheel frame (302) is rotatably arranged on the wheel hub fixing disc (301) through the underwater motor (304), and the paddle (303) is arranged in the wheel frame (302). The leg device (2) is connected to the main body (1) through a rotary joint (207), the output shaft of the rotary joint (207) is parallel to the central axis of the cylindrical main body (1), so that the leg device (2) of the robot can swing left and right relative to the main body (1) while swinging forward and backward relative to the main body. The first driving joint (208) of the shank part (202) and the second driving joint (209) of the thigh part (201) are located at the front end of the thigh part (201), the first driving joint (208) drives the crank (205) to swing, the second driving joint (209) drives the thigh part (201) to swing, the first driving joint (208) and the second driving joint (209) are connected to the rotary joint (207) through a U-shaped fixing part (206), the mounting surface of the U-shaped fixing part (206) and the motor make the output shafts of the first driving joint (208) and the second driving joint (209) coincide and are perpendicular to the output shaft of the rotary joint (207). The steps include: I. Land walking state: when the robot walks on land, the rotary joint (207) is fixed, the thigh part (201) and the shank part (202) are in a vertical plane, the leg device (2) can be folded or stretched to adapt to different ground environments by controlling the first driving joint (208) and the second driving joint (209), the robot can walk on the ground by rotating the underwater motor (304). II. Transition state from land to water: on land, the robot can use wheeled or wheeled-legged walking by controlling the underwater motor (304), the first driving joint (208), and the second driving joint (209); On the beach terrain between land and water surface, the robot can lock the wheel frame (302) by fixing the underwater motor (304), and cross the complex terrain by controlling the first driving joint (208) and the second driving joint (209) to walk across the terrain to the water surface; When the water is deep, by adjusting the rotation joint (207) of the two front leg devices (2) of the main machine (1), the front thigh part (201) and the calf part (202) can reach the horizontal plane, and by adjusting the steering wheel (305) of the two front paddle wheel devices (3), the propeller is vertically downward to provide buoyancy, at this time the robot only uses the front legs of the main machine (1) to advance, which is a biped walking mode; When the water is deep enough, the robot can adjust the rotation joint (207) of the rear leg device (2) of the main machine (1) to be horizontal, so that the robot is in a suspended state, and then switch to the forward mode to move underwater; III. Suspended, floating or diving state in water: by controlling the rotation joint (207), the plane of the thigh part (201) and the calf part (202) of the robot is horizontal, and by adjusting the first driving joint (208) and the second driving joint (209), the leg device (2) can stretch away from the main machine (1); By controlling the steering wheel (305), the paddle wheel device (3) can be adjusted to be vertically downward or vertically upward, and by controlling the rotation speed of the underwater motor (304), the robot can realize hovering, floating, sinking and other different motion modes in water; IV. Motion state switching: when the robot is in an underwater operation scene, the two leg devices (2) and paddle wheel devices (3) at the rear of the main machine are adjusted by the first driving joint (208), the second driving joint (209) and the steering wheel (305), so that the leg device (2) stretches backward and the paddle wheel device (3) faces the rear of the main machine (1); By stretching the two leg devices (2) and paddle wheel devices (3) on both sides of the main machine (1) and making the paddle wheel device (3) face upward, the buoyancy of the robot in water can be provided; By adjusting the steering wheel (305) of the paddle wheel device (3) at the rear of the main machine (1), the paddle wheel device (3) can be adjusted to face the rear or side of the main machine (1), so as to realize the switching between the two modes of fast forward and fast turning in place of the robot underwater; V. Switching between different depths underwater: by rotating the rotation joint (207) of the two front leg devices (2) of the main machine (1), the parts of the front leg device (2) of the robot can move to the horizontal plane, and by adjusting the first driving joint (208) and the second driving joint (209), the leg device (2) can stretch or contract to the outside of the main machine (1), which can improve the balance performance of the robot when stretched, and can pass through a relatively narrow area when contracted; By rotating the steering wheel (305) of the paddle wheel device (3), the paddle wheel device (3) can be adjusted to face the side of the main machine (1) or vertically upward, vertically downward, the rotating speed of the underwater motor (304) can adjust the thrust provided by the paddle wheel, and the robot can switch between three forward modes: horizontal forward, upward forward, and deep forward; Six, underwater advancing along the slope state: by adjusting the rotating joint (207), the first driving joint (208) and the second driving joint (209), the leg device (2) of the four legs of the robot stretches to the side away from the body of the robot and makes the thigh part (201) and the calf part (202) of the four legs in the same plane; Adjust the steering wheel (305) to rotate the paddle wheel devices of the two legs on the front side of the main machine (1) to face upward of the main machine (1), and rotate the paddle wheel devices of the two legs on the back side of the main machine (1) to face downward of the main machine (1), and by adjusting the underwater motor (304), the paddle wheel devices on the front side and the back side generate thrust in opposite directions, and the generated torque makes the robot rotate around the horizontal axis; When rotating to the axis of the robot main machine (1) and the slope is perpendicular, by adjusting the steering wheel (305) of the paddle wheel device (3) on the front side or the back side of the main machine (1), the paddle wheel devices of the four legs can generate thrust in the same direction; Seven, underwater vertical advancing state: in the suspension state, by adjusting the steering wheel (305) of the paddle wheel device (3) on the left side of the main machine (1) to rotate the paddle wheel device by 180°, at this time, the paddle wheel devices on both sides of the main machine (1) face opposite directions and the thrust directions are opposite, the main machine (1) can rotate around the axis to the vertical direction, By adjusting the steering wheel (305), the paddle wheel device faces the back of the main machine (1) to provide forward thrust.

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