Air-ground amphibious spherical robot

Abstract

The invention relates to the technical field of robots, in particular to an air-ground amphibious spherical robot which comprises a main body, steering engines, arms, motors and propellers, the steering engines are arranged on the two sides of the main body in a mirror symmetry mode, the output ends of the steering engines are connected with the arms, the motors are connected to the tail ends of the arms, and output shafts of the motors are connected with the propellers. The machine arms can be driven to be unfolded or contracted through swinging of the steering engines, and after all the machine arms are contracted, the land-air amphibious spherical robot is in a sphere shape or an ellipsoid shape. According to the amphibious robot, robot structure state switching in different modes and ground rolling can be achieved by controlling the unfolding or folding angles of the steering engines driving the arms, the working modes such as takeoff, flying and landing can be completed by adjusting the rotating speed of the motors, the switching smoothness of all the modes of the amphibious robot is effectively improved, the overall structure compactness is improved, and the service life of the amphibious robot is prolonged. And miniaturization of the amphibious robot and application of the amphibious robot in various fields are facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular provides a land and air amphibious spherical robot. Background Art

[0002] Amphibious robots are devices that can move freely on land and in the air and perform tasks. With the development of technology, amphibious robots have shown strong advantages and broad development prospects in many fields. They are not only safe and reliable, but also have the ability to adapt to a variety of environments. Amphibious robots have the advantages of both drones and ground robots. On the ground, they have the flexibility and low noise of ground robots, and are suitable for working in quiet indoor environments; they can move or hover in all directions in the air.

[0003] An analysis of existing land and air amphibious robots found that current land and air amphibious robots usually use an independent rotor system for flying and an independent wheel system for ground movement. The rotor provides flight power and the wheels are used for ground movement. It is only a simple combination of a rotor drone and a ground wheel. There is no real organic combination of ground mode and air mode, and a smooth transition between air and ground modes cannot be achieved. Therefore, only some simple movements can be performed on the ground, and the range and flexibility of ground movement are also very limited. Therefore, there is an urgent need to design an amphibious robot that is both highly integrated and flexible in movement. Summary of the invention

[0004] In order to solve the above-mentioned problems, the present invention provides a land and air amphibious spherical robot, which realizes ground rolling, air flying and switching transition between different modes through mirror-symmetrically arranged servos and arms, gets rid of the amphibious robot's dependence on wheeled mechanisms during ground movement, improves the integration of the amphibious robot, and is also conducive to the miniaturization of the amphibious robot.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows: The land and air amphibious spherical robot provided by the present invention comprises: main body; And, with the main body as a symmetry plane, multiple sets of swing mechanisms are provided on both sides of the main body in a mirror-symmetrical manner, and the swing direction of the swing mechanism is to make its output end approach or move away from the main body; The output end of the swing mechanism is connected with an arc-shaped machine arm, the end of the machine arm is provided with a motor, and the output shaft of the motor is connected with a propeller.

[0006] Preferably, the main body is a cylindrical structure.

[0007] Preferably, six swing mechanisms are provided on each side of the main body.

[0008] Preferably, the swing mechanism includes a steering gear and a swing arm, the swing arm is connected to the machine arm, and the steering gear drives the swing arm to drive the machine arm to expand or retract.

[0009] Preferably, its working modes include: ground mode, take-off mode, flight mode and landing mode Preferably, when the amphibious spherical robot is in the ground mode, all arms are in a retracted state, and two arms that are mirror-symmetrical on both sides of the main body are defined as a group; The two swing mechanisms connected to each set of arms are sequentially controlled to drive the corresponding arms to retract to the same angle, and the proximal ends of the arms close to the main body bulge outward, pushing the land and air amphibious spherical robot to achieve linear motion; The two swing mechanisms connected to each set of arms are controlled in turn to drive the corresponding arms to expand and retract to any angle, thereby pushing the land and air amphibious spherical robot to achieve lateral rotation.

[0010] Preferably, when the amphibious spherical robot is in take-off mode, one group of arms is selected to be in the unfolded state, and the two motors on this group of arms are controlled to drive the propellers to rotate at the same speed, so as to realize the take-off of the amphibious spherical robot; the two motors on this group of arms are controlled to drive the propellers to rotate at different speeds, so as to push the amphibious spherical robot to achieve posture adjustment.

[0011] Preferably, when the amphibious spherical robot is in flight mode, the motor at the front end of the flight direction is controlled to reduce the speed and / or the motor at the rear end of the flight direction is controlled to increase the speed, and the amphibious spherical robot is driven to fly by the speed difference of different propellers; Alternatively, the arm deployment angle at the front end of the flight direction and / or the arm deployment angle at the rear end of the flight direction are changed, and the land-air amphibious spherical robot is propelled to fly by the difference in thrust components provided by different propellers in the flight direction.

[0012] Preferably, when the amphibious spherical robot is in landing mode, two motors on any group of arms are controlled to increase their rotation speed, while the remaining motors are controlled to reduce their rotation speed, so as to push the main body to adjust its posture, and then reduce the rotation speed of the two motors with increased rotation speed, so as to achieve the landing of the amphibious spherical robot.

[0013] Preferably, after all arms are retracted, the amphibious spherical robot takes on a sphere or an ellipsoid shape.

[0014] Preferably, when the land-air amphibious spherical robot is in the landing mode, if a machine arm set to increase the motor speed fails, two motors on a group of normally working machines arms are automatically switched to increase the speed to achieve safe landing.

[0015] Compared with the prior art, the invention can achieve the following beneficial effects: The land and air amphibious spherical robot of the present invention adopts a mirror-symmetrical design. The symmetrically designed servos, arms and propellers replace the simple combination of the traditional rotor system and the ground wheels, thereby getting rid of the amphibious robot's dependence on the wheel mechanism during ground movement, effectively reducing the complexity of the system structure, and contributing to the integration and miniaturization of the amphibious robot.

[0016] The present invention flies through symmetrical rotors, which improves the flight stability of the robot. By adjusting the output speed of the motors on both sides of the main body, the robot's aerial posture can be adjusted to achieve actions such as aerial tilting, which helps the amphibious robot switch between ground mode and flight mode.

[0017] The present invention can flexibly switch between flight and ground rolling modes under different environmental conditions, and can independently complete multiple working modes such as retraction, expansion, ground rolling, take-off, navigation and landing, and multiple working modes are all driven by the same set of servos and motor systems, avoiding the disadvantage that the existing amphibious robots need multiple drive systems to control ground movement and aerial flight respectively, and reducing the complexity of the control system and mechanical structure; in addition, in the ground mode, the ground rolling is achieved by sequentially controlling each set of arms to bulge outward to push the whole machine to roll, and the lateral rolling of the whole machine can be achieved by adjusting the degree of retraction of two arms in each set of arms, which greatly improves the flexibility and scalability of the ground rolling.

[0018] The present invention is provided with multiple groups of motors and steering gears on both sides of the main body. For the safety design of the land and air amphibious spherical robot, during the flight, when a motor or steering gear in a machine arm fails, the whole machine can be controlled to move to a specified position by controlling the motor speed, and another group of machine arms with intact functions are selected as the upper motor to provide upward pulling force for the land and air amphibious spherical robot, thereby reducing the speed of other motors and gradually descending, thereby greatly ensuring the safety of flight.

[0019] Compared with traditional amphibious robots, the land and air amphibious spherical robot of the present invention has advantages in miniaturization, flexibility and reliability. Therefore, it has broad application potential in search and rescue, agricultural monitoring, entertainment shooting and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings: Figure 1 is an overall schematic diagram of the amphibious spherical robot in a contracted state provided by an embodiment of the present invention; Figure 2is an overall schematic diagram of the land-air amphibious spherical robot in an unfolded state provided by an embodiment of the present invention; Figure 3 is a schematic structural diagram of an arm module provided according to an embodiment of the present invention; Figure 4 is a schematic diagram of amphibious control of a land-air amphibious spherical robot provided according to an embodiment of the present invention; Figure 5 is a state diagram of the land-air amphibious spherical robot provided by an embodiment of the present invention rolling forward in a straight line on the ground; Figure 6 is a state diagram of the land-air amphibious spherical robot turning left on the ground according to an embodiment of the present invention; Figure 7 is a state diagram of flight and landing of an amphibious spherical robot provided by an embodiment of the present invention; Figure 8 This is a state diagram of the amphibious spherical robot provided by an embodiment of the present invention flying forward in the air.

[0021] Reference numerals include: Main body 1, swing mechanism 2, steering gear 21, swing arm 22, machine arm 3, motor 4, propeller 5, gimbal module 6; A first arm 101 and a second arm 201; The third arm 102 and the fourth arm 202; A fifth arm 103 , a sixth arm 104 , a seventh arm 105 , and an eighth arm 106 . DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the invention clearer, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and do not constitute a limitation to the invention. Similar components in different embodiments use associated similar component numbers. In the following embodiments, many detailed descriptions are to enable the invention to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other components, materials, and methods. In some cases, some operations related to the invention are not shown or described in the specification, in order to avoid the core part of the invention being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0023] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to form various implementation methods. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a necessary sequence, unless otherwise specified that a certain sequence must be followed.

[0024] In the description of the invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0025] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0026] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0027] See also Figure 1 and Figure 2In one embodiment of the present invention, a land and air amphibious spherical robot is provided, which mainly includes a main body 1, a rolling and flying fusion wing and other functional modules, wherein the main body 1 is the main body module of the land and air amphibious spherical robot, and is the installation base of other electronic equipment and modules. In order to facilitate the ground rolling of the whole machine, the main body 1 adopts a flat cylindrical design, and the circumferential outer side of the main body 1 (i.e., the side of the cylinder) can also be designed to have a slightly raised or recessed arc surface. In order to improve the stability of the whole machine during the ground rolling process, it is necessary to balance the weight of the main body 1 and the connecting devices on both sides thereof, so as to ensure that the center of the whole machine is at the midpoint of the axis of the main body 1 during the ground rolling process.

[0028] The amphibious spherical robot has three main working modes during operation, namely, ground mode (or rolling mode), flight mode and transition mode for switching between the two. The transition mode can be simplified as take-off mode and landing mode. In the ground mode, the axis of the main body 1 is parallel to the ground; in the flight mode, the axis of the main body 1 is perpendicular to the ground.

[0029] According to the equipment installed on both sides of the main body 1, the axial end face of the main body 1 can be divided into the upper side of the robot and the lower side of the robot. Since the land and air amphibious spherical robot needs to obtain ground information through the image acquisition equipment carried by the pan-tilt module 6 during flight, the pan-tilt module 6 is arranged on the lower side of the robot, that is, the lower end face of the main body 1 during flight. In addition, other electronic devices that may need to be carried can be evenly distributed on both sides and inside the main body 1 as needed, such as a control system for controlling the stable flight and ground rolling of the robot, a circuit development board for receiving and sending information to ground moving parts, an electronic speed regulator for controlling the speed of the motor, a battery for powering the robot, a power module for controlling the power supply parameters and on-off of the robot, a receiver for receiving remote sensing signals, a GPS positioning module for realizing flight and rolling positioning, etc. The above equipment are all common modules of amphibious robots and can be specifically designed according to actual needs.

[0030] With the main body 1 as the symmetry plane, multiple sets of rolling and flying fusion wings are arranged on both sides thereof in a mirror-symmetrical manner. The rolling and flying fusion wings are mainly composed of a swing mechanism 2, an arm 3, a motor 4 and a propeller 5. Specifically, six swing mechanisms 2 are arranged along the circumferential direction on both the upper and lower end faces of the main body 1. The swing mechanisms 2 arranged on the upper end face and the swing mechanisms 2 arranged on the lower end face are symmetrical with respect to the main body 1. Each swing mechanism 2 is composed of a steering gear 21 and a swing arm 22, wherein the steering gear 21 is a power output mechanism, and its output shaft is connected to the swing arm 22, see Figure 3The swing arm 22 mainly includes a back connection piece and servo discs protruding on both sides. The output shaft of the servo 21 is connected to the servo disc on the swing arm 22. The swing arm 22 is driven to swing within a certain angle range by the rotation of the output shaft of the servo. The specific swing direction is: the direction in which the far end (i.e., the output end) of the swing arm 22 from the servo 21 is close to or away from the end face of the main body 1, that is, the spatial angle between the swing arm 22 and the end face of the main body 1 changes continuously during the swinging process. The back connection piece of the swing arm 22 is fixedly connected to the machine arm 3. The servo 21 drives the swing arm 22 to drive the machine arm 3 to swing, so as to realize the expansion or contraction of the machine arm 3. It can be understood that the expansion means that the machine arm 3 rotates outward, and the contraction means that the machine arm 3 rotates inward. A motor 4 is installed on the top of the machine arm 3. The output shaft of the motor 4 is coaxially connected to the rotating shaft of the propeller 5. The motor 4 drives the propeller 5 to provide lift and thrust for the land and air amphibious spherical robot during flight. In order to ensure that the land and air amphibious spherical robot can be retracted into a sphere, usually, the propeller 5 can adopt a folding propeller to reduce the space occupied by the propeller 5.

[0031] In addition, the shape of each arm 3 is arc-shaped. When all arms 3 are retracted to a certain angle, the amphibious spherical robot as a whole appears as follows: Figure 1 The sphere or ellipsoid shown in the figure, usually, after the arms 3 are retracted, the maximum outer diameter of the hemispherical structure formed by the arms 3 on both sides of the main body 1 is equal to or slightly larger than the maximum outer diameter of the main body 1; when all the arms 3 are unfolded to a certain angle, the upper and lower sides of the land and air amphibious spherical robot are as follows Figure 2 The petal shape shown.

[0032] It should be noted that when the arm 3 is retracted to a certain angle, the amphibious spherical robot as a whole presents a sphere or an ellipsoid, and this angle value is defined as the retraction threshold. When the arm 3 is further retracted to a certain angle, that is, the retraction angle is greater than the retraction threshold, the far end of the arm 3 from the servo 21 will be close to the end face of the main body 1, and the proximal end of the arm 3 from the servo 21 will bulge outward, that is, bulge radially toward the main body 1.

[0033] Compared with the traditional amphibious robot that relies on wheeled structure for ground movement, the present invention achieves compatibility of ground rolling and aerial flight through mirror-symmetrical rolling and flying fusion wings, avoiding the disadvantage that the traditional amphibious robot needs to set up two power systems and two control systems to drive ground movement and aerial flight respectively, and realizes the efficient integration of robot amphibious movement. For the land and air amphibious spherical robot shown in the embodiment of the present invention to switch between ground and aerial movement in different environments, please refer to Figure 4 The embodiment of the present invention also provides the specific control process of the land and air amphibious spherical robot in different modes as follows: According to the working process of the amphibious spherical robot, its working modes can be divided into ground mode (i.e. rolling mode), take-off mode, flight mode and landing mode. Before starting the amphibious spherical robot, it is necessary to perform a system self-check and start the work after confirming that the system is fault-free. The rolling of the amphibious spherical robot in the ground mode can be divided into two parts: linear rolling and lateral rotation. Please refer to Figure 5 For the convenience of description, the arms 3 are numbered and grouped, and the two arms 3 on both sides of the main body 1 that are mirror-symmetrical are grouped into one group, and the two arms 3 in the same group that are in contact with the ground are numbered as the first arm 101 and the second arm 201. In the ground mode, the initial contraction angles of all arms 3 are equal to the contraction threshold, and this state is the contraction state of the entire machine. When linear rolling is required, the two servos 21 corresponding to the first arm 101 and the second arm 201 are controlled to further contract, that is, the contraction angles of the first arm 101 and the second arm 201 are greater than the contraction threshold, and the contraction angles and contraction speeds of the first arm 101 and the second arm 201 are equal. In the process of increasing the retraction angle, the distal ends of the first arm 101 and the second arm 201 move inwardly toward the main body 1, while the proximal ends of the first arm 101 and the second arm 201 bulge outwardly, and the bulge heights are the same. In the bulging process, the proximal ends of the first arm 101 and the second arm 201 push the ground, so that the land and air amphibious spherical robot as a whole obtains a forward reaction force, pushing the land and air amphibious spherical robot as a whole to roll forward. When the first arm 101 and the second arm 201 leave the ground, the first arm 101 and the second arm 201 are driven to reset by the servo 21. At this time, the next group of arms will contact the ground, and then control the next group of arms to shrink to the same angle, pushing the land and air amphibious spherical robot as a whole to continue to roll forward. By analogy, the six groups of arms are controlled in a cycle in sequence, so that the land and air amphibious spherical robot can continue to roll forward. It can be understood that, since the contraction angles of the arms 3 on both sides of the main body 1 are the same during this process, the thrust provided to the amphibious spherical robot is offset in the lateral direction, and therefore, it will roll in a straight line.

[0034] When turning is required during ground rolling, the contraction angles of the two arms 3 in the same group can be changed so that the thrusts provided on both sides are not equal, which can make the amphibious spherical robot tend to move sideways during rolling. Figure 6, control the servo 21 corresponding to the first arm 101 to further retract, and control the servo 21 corresponding to the second arm 201 to expand, the retracted angle and the expansion angle can be equal or unequal. When the first arm 101 is retracted, its proximal end will bulge outward; and when the second arm 201 is expanded, its proximal end will be sunken inward, so that the land-air amphibious spherical robot as a whole has a leftward movement trend, and the land-air amphibious spherical robot as a whole rolls and turns to the left front. In the process of turning, similarly, when the first arm 101 and the second arm 201 leave the ground, they are reset, and the next group of two arms 3 are used to continue driving. The size of the turning radius mainly depends on the retracted and expanded angles of the first arm 101 and the second arm 201.

[0035] The amphibious spherical robot is in take-off mode. Figure 7 , select a suitable location, unfold the first arm 101 and the second arm 201, so that the first arm 101 and the second arm 201 are supported on the ground. For the sake of convenience, the two arms 3 at the opposite positions of the first arm 101 and the second arm 201 are numbered as the third arm 102 and the fourth arm 202, and the third arm 102 and the fourth arm 202 are unfolded. Preferably, the third arm 102 and the fourth arm 202 are unfolded to make the shafts of the two motors 4 on the third arm 102 and the fourth arm 202 point vertically downward, that is, the propeller 5 is parallel to the ground, so that the propeller 5 can provide the lift required for the land and air amphibious spherical robot to take off to the greatest extent. The remaining arms 3 are also fully unfolded, and the two motors 4 on the third arm 102 and the fourth arm 202 are started. When the land-air amphibious spherical robot takes off from the ground, it needs to adjust its posture in the air, start the motors 4 on the first arm 101 and the second arm 201, and increase the speed of the motors 4 on the first arm 101 and the second arm 201, and reduce the speed of the motors 4 on the third arm 102 and the fourth arm 202. The land-air amphibious spherical robot is tilted in the air through the speed difference, and all motors 4 are gradually started during the tilting process, so that the surface where the first arm 101 and the third arm 102 are located is finally completely upward, even if Figure 7 The surface with the gimbal module 6 on the left side of the center is vertically downward, and the right side is completely upward.

[0036] The control process of the landing mode of the amphibious spherical robot is similar to that of the take-off mode, and it also needs to adjust its posture in the air. Figure 7, any amphibious spherical robot in flight mode selects a group of arms, such as the first arm 101 and the second arm 201, increases the rotation speed of the motors 4 corresponding to the first arm 101 and the second arm 201, and reduces the rotation speed of the remaining motors 4, so that one side of the first arm 101 and the second arm 201 tilts upward and the other side tilts downward, and further reduces the rotation speed of the remaining motors 4 during the tilting process until the two propellers 5 on the first arm 101 and the second arm 201 are at the same height and parallel to the ground, gradually reduces the rotation speed of the motors 4 on the first arm 101 and the second arm 201, and finally lands on the ground.

[0037] In the flight mode, the embodiment of the present invention provides two flight control methods. Method 1: To achieve forward, backward, left and right movement by tilting the whole machine. For details, please refer to Figure 8 , control and increase the speed of the motor 4 at the rear end of the amphibious spherical robot in the flight direction, that is, Figure 8 The motor 4 on the third arm 102 is controlled so that there is a speed difference between the motors 4 at the front and rear ends of the flight direction of the land-air amphibious spherical robot, that is, the speed of the motor 4 on the first arm 101 is less than the speed of the motor 4 on the third arm 102, so that the land-air amphibious spherical robot tilts forward, and in this way the land-air amphibious spherical robot is pushed forward to fly. Similarly, the motor 4 on the first arm 101 can be controlled to reduce the speed alone, or the motor 4 on the third arm 102 can be controlled to increase the speed while reducing the speed of the motor 4 on the first arm 101. The above control can realize the land-air amphibious spherical robot tilting forward to fly. Similarly, when it is necessary to fly to the left, the rotation speed of the motor 4 on the sixth arm 104 and the eighth arm 106 is increased, and the rotation speed of the motor 4 on the fifth arm 103 and the seventh arm 105 is reduced, so that the entire land-air amphibious spherical robot can fly tilted to the left; on the contrary, the rotation speed of the motor 4 on the sixth arm 104 and the eighth arm 106 is reduced, and the rotation speed of the motor 4 on the fifth arm 103 and the seventh arm 105 is increased, so that the entire land-air amphibious spherical robot can fly tilted to the right.

[0038] Method 2: Affect the attitude and movement of the aircraft by changing the thrust direction of propeller 5. For details, please refer to Figure 8In the process of flying forward, the steering engine 21 connected to the third arm 102 at the rear end of the amphibious spherical robot in the flight direction is controlled to further expand the third arm 102, that is, to rotate outward, and at the same time, the speed of the corresponding motor 4 on the third arm 102 is increased, so that the propeller 5 on the third arm 102 can provide a lift in the vertical direction that can offset the gravity of the amphibious spherical robot, and at the same time have a forward thrust component, so that the amphibious spherical robot can fly forward. Similarly, when it is necessary to fly to the left, the fifth arm 103 and the seventh arm 105 are controlled to rotate outward, and the speed of the motor 4 on the fifth arm 103 and the seventh arm 105 is increased to provide the amphibious spherical robot with a thrust component for flying to the left; on the contrary, the sixth arm 104 and the eighth arm 106 are controlled to rotate outward, and the speed of the motor 4 on the sixth arm 104 and the eighth arm 106 is increased to provide the amphibious spherical robot with a thrust component for flying to the right.

[0039] Since the land and air amphibious spherical robot provided by the embodiment of the present invention abandons the wheel structure, a total of 6 groups of 12 rolling and flying fusion wings are designed. The combined control of the servos 21 and the motors 4 on different rolling and flying fusion wings effectively improves the movement flexibility of the robot on the ground and in the air. In addition, when a servo 21 and / or motor 4 fails, the land and air amphibious spherical robot can still be controlled by other normal servos 21 and motors 4 to continue moving. When arriving at the landing site, a fault-free servo 21 can be selected for posture adjustment, and a fault-free motor 4 can be used to provide upward lift for the land and air amphibious spherical robot, and then the rotation speed of other motors 4 can be reduced for gradual landing, which greatly improves safety.

[0040] In short, the above description is only a preferred embodiment of this specification and is not intended to limit the protection scope of this specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included in the protection scope of this specification.

[0041] The systems, devices, modules or units described in one or more of the above embodiments may be implemented by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0042] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0043] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0044] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A spherical amphibious robot, It is characterized in that include: main body; And, taking the main body as a symmetry plane, a plurality of sets of swing mechanisms are provided on both sides of the main body in a mirror-symmetrical manner, and the swing direction of the swing mechanism is to make its output end approach or move away from the main body; The output end of the swing mechanism is connected to an arc-shaped machine arm, the end of the machine arm is provided with a motor, and the output shaft of the motor is connected to a propeller.

2. The amphibious spherical robot according to claim 1, It is characterized in that The main body is a cylindrical structure.

3. The amphibious spherical robot according to claim 1, It is characterized in that Six swing mechanisms are arranged on each side of the main body.

4. The amphibious spherical robot according to claim 1, It is characterized in that The swing mechanism comprises a steering gear and a swing arm, wherein the swing arm is connected to the machine arm, and the swing arm is driven by the steering gear to drive the machine arm to expand or retract.

5. The amphibious spherical robot according to claim 4, It is characterized in that Its working modes include: ground mode, take-off mode, flight mode and landing mode.

6. The amphibious spherical robot according to claim 5, It is characterized in that When the land-air amphibious spherical robot is in the ground mode, all arms are in a retracted state, and two arms that are mirror-symmetrical on both sides of the main body are defined as a group; The two swing mechanisms connected to each set of arms are sequentially controlled to drive the corresponding arms to retract to the same angle, and the proximal ends of the arms close to the main body protrude outward, thereby pushing the land and air amphibious spherical robot to achieve linear motion; The two swing mechanisms connected to each set of arms are sequentially controlled to drive the corresponding arms to expand and contract at any angle, thereby pushing the land and air amphibious spherical robot to achieve lateral rotation.

7. The amphibious spherical robot according to claim 6, It is characterized in that When the land-air amphibious spherical robot is in take-off mode, at least one group of arms is in an unfolded state, and the two motors on the group of arms are controlled to drive the propellers to rotate at the same speed to achieve the take-off of the land-air amphibious spherical robot; the two motors on the group of arms are controlled to drive the propellers to rotate at different speeds to push the land-air amphibious spherical robot to achieve posture adjustment.

8. The amphibious spherical robot according to claim 7, It is characterized in that When the land-air amphibious spherical robot is in flight mode, the motor at the front end of the flight direction is controlled to reduce the rotation speed and / or the motor at the rear end of the flight direction is controlled to increase the rotation speed, so that the land-air amphibious spherical robot is driven to fly by the rotation speed difference of different propellers; Or, the arm deployment angle at the front end of the flight direction and / or the arm deployment angle at the rear end of the flight direction are changed, and the land-air amphibious spherical robot is driven to fly by the thrust component difference provided by different propellers in the flight direction.

9. The amphibious spherical robot according to claim 8, It is characterized in that When the land-air amphibious spherical robot is in the landing mode, two motors on any group of arms are controlled to increase their rotation speeds, while the other motors are controlled to reduce their rotation speeds, so as to push the main body to adjust its posture, and then reduce the rotation speeds of the two motors with increased rotation speeds, so as to achieve the landing of the land-air amphibious spherical robot.

10. The amphibious spherical robot according to claim 4, It is characterized in that After all the arms are retracted, the land-air amphibious spherical robot takes on a spherical or ellipsoidal shape.

11. The amphibious spherical robot according to claim 9, It is characterized in that When the land-air amphibious spherical robot is in the landing mode, if a machine arm set to increase the motor speed fails, two motors on a group of normally working machines arms are automatically switched to increase the speed to achieve safe landing.

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