Amphibious wheel leg type obstacle crossing robot

Abstract

The invention discloses an amphibious wheel leg type obstacle crossing robot. A main body support of the obstacle crossing robot carries out overall supporting, four deformation wheels are symmetrically installed at the four corners of the bottom of the main body support respectively and carry out various motions, a lifting mechanism is installed in the center of the bottom face of the top of the main body support, and a sealed cabin is installed on the bottom face of the lifting mechanism and moves into water through the lifting mechanism for detection. And the detection control system is mounted in the sealed cabin and is used for detecting the external environment and controlling the obstacle crossing robot. According to the three-dimensional environment reconstruction analysis result, the unfolding degree and the deformation time sequence of the two pairs of front and rear deformation wheels of the obstacle crossing robot can be controlled, the wheel type mode and the leg type mode are flexibly switched, various movement modes such as rolling, climbing, walking and water surface sliding are achieved, various unstructured terrains are overcome, and the obstacle crossing robot can be used for obstacle crossing. The lifting design of the sealed cabin and the camera arranged in the arc cover at the front end of the sealed cabin can be used for providing buoyancy, adjusting postures and underwater detection.

Description

Technical Field

[0001] The invention relates to an obstacle-crossing robot and the technical field of robots, in particular to an amphibious wheel-legged obstacle-crossing robot. Background Art

[0002] With the development of various technologies such as machinery, electronics, and computers, the application scope of robots has been continuously expanded, and their automation and environmental adaptability have also been improved, playing an important role in various fields. Among them, the wheel-legged variable robot can achieve deformation in mechanical structure, achieve strong obstacle crossing ability, and can adapt to a variety of different terrains.

[0003] In the face of frequent natural disasters, post-disaster material transportation and rescue work, as well as exploration work in a series of unknown environments such as aerospace, in order to ensure the safety of personnel and the operation of work tasks, the participation of mobile robots is needed. When facing unstructured roads, wheeled robots have certain limitations, that is, their obstacle crossing ability is weak, while legged robots have shown superior performance in obstacle crossing. At present, most of the existing wheel-legged robots at home and abroad are designed with only a pair of movable legs, so it is difficult to achieve multi-terrain movement, resulting in a limited scope of application.

[0004] At present, a wheel-leg composite wheel with active variable left and right contact areas has been proposed, but the wheel-leg structure deformation rate of the wheel is low. At present, a wheel-leg variable obstacle-crossing robot has also been proposed, but the structure does not take into account the situation of moving in water when crossing obstacles, and cannot achieve exploration of the surrounding terrain. Therefore, it is currently necessary to provide a wheel-leg variable obstacle-crossing robot with a high wheel-leg structure deformation rate and easy control. Summary of the invention

[0005] In order to solve the problems existing in the background technology, the present invention provides an amphibious wheel-legged obstacle-crossing robot. The amphibious wheel-legged obstacle-crossing robot of the present invention can move quickly in water, and can maintain good maneuverability and good obstacle-crossing ability when moving on land, and can adapt to the changeable terrain after the disaster to realize the exploration of unknown terrain.

[0006] The technical solution adopted by the present invention is:

[0007] 1. An amphibious wheel-legged obstacle-crossing robot:

[0008] The obstacle-crossing robot comprises a main frame, which is used for overall support of the obstacle-crossing robot.

[0009] The obstacle-crossing robot comprises four deformable wheels, which are symmetrically mounted at the four corners of the bottom of the main support and are used for the rolling, climbing, walking and water-surface sliding movements of the obstacle-crossing robot.

[0010] The obstacle-crossing robot comprises a lifting mechanism which is installed at the center of the top bottom surface of the main frame.

[0011] The obstacle-crossing robot comprises a sealed cabin, which is installed on the bottom surface of a lifting mechanism and moves up and down through the lifting mechanism when the obstacle-crossing robot glides on the water surface to provide buoyancy, adjust posture and conduct underwater detection.

[0012] The obstacle-crossing robot comprises a detection and control system, which is installed in a sealed cabin and is used for detecting the external environment and controlling four deformable wheels and a lifting mechanism.

[0013] The main body bracket includes a top plate, several thick gaskets and four rolling drive mechanisms. The rolling drive mechanism includes a motor bracket, a flange coupling, and a 57 stepper motor. The top plate is arranged horizontally. The motor brackets of each rolling drive mechanism are symmetrically installed directly below the four corners of the bottom surface of the top plate through their own several vertically arranged gaskets. Each stepper motor is installed on its own motor bracket. The output shaft of each stepper motor is horizontally connected to the center of one side of its own deformation wheel through its own flange coupling.

[0014] The sealed cabin comprises two sealed cabin covers, a sealed cabin body and a transparent arc cover, the two sealed cabin covers are horizontally sealed on the upper and lower sides of the sealed cabin body, the upper sealed cabin cover is installed on the bottom surface of the lifting base plate, a detection hole is opened in the center of one side of the sealed cabin body facing the forward direction of the obstacle-crossing robot, and the transparent arc cover is sealed on the detection hole; the detection control system comprises a first battery, a camera, a control board, four 57 stepper motor adapters, a steering gear and a first signal transceiver, the camera is installed in the arc cover sealing cover, the output shaft of the steering gear is synchronously connected to the body of the camera, the first battery is electrically connected to the camera, the control board, four 57 stepper motor adapters and the steering gear, the control board is electrically connected to the camera, four 57 stepper motor adapters and the steering gear, the four 57 stepper motor adapters are respectively electrically connected to one 57 stepper motor, and the control board is wirelessly connected to the four deformable wheels and the lifting mechanism through the first signal transceiver.

[0015] The deformation wheel comprises two guard plates, a cavity and an unfolding mechanism. The guard plates are circular plates. The cavity is installed between two vertically arranged guard plates. The cavity is a columnar cavity structure composed of two semi-cylinders with different diameters. The cavity comprises a cavity shell and two cavity covers. The cavity shell is installed between two vertically arranged cavity covers to form a deformation wheel sealed cabin. The central axes of the two guard plates and the cavity are located on the same straight line. The center of one side of one guard plate away from the cavity is connected to the output shaft of the stepper motor through a flange coupling. RDS516 is also installed in the cavity. 0 a dual-axis steering gear, a second battery and a second signal transceiver, the dual-axis steering gear is installed in the large semi-cylinder of the cavity and close to the center of the outer circumference, the output shaft of the dual-axis steering gear is horizontally passed through one of the cavity covers of the cavity and then hinged to one end of the deployment mechanism, the middle part of the deployment mechanism is hinged at the intersection of the large semi-circle and small semi-circle outer side walls of the two cavity covers on the same side, and the other end of the deployment mechanism is a free end; the second battery is electrically connected to the dual-axis steering gear, and the dual-axis steering gear is wirelessly connected to the first signal transceiver of the detection control system through the second signal transceiver.

[0016] The deployment mechanism comprises two bent rod assemblies, a first cross plate, a second cross plate and a slide plate, the two bent rod assemblies are symmetrically installed on the two cavity covers of the cavity and each bent rod assembly is located between a respective cavity cover and a guard plate, the bent rod assembly comprises a first bent rod, a second bent rod, a third bent rod and a fourth bent rod, the first bent rod, the second bent rod, the third bent rod, the fourth bent rod and the slide plate are all bent in a direction toward the cavity, one end of the first bent rod of one bent rod assembly is synchronously connected to an output shaft of a dual-axis servo at a cavity cover through a flange, one end of the first bent rod of the other bent rod assembly is symmetrically hinged to the other cavity cover of the cavity, the other end of the first bent rod is hinged to one end of the fourth bent rod, and the other end of the fourth bent rod is a free end, the two ends of the first cross plate are respectively hinged to the hinges of the first bent rod and the fourth bent rod of the two bent rod assemblies, and the other end of the two first bent rods is located between one end of the two fourth bent rods; one end of the second bent rod is hinged to the first bent rod near its own The cam is an arc-shaped groove, and the other end of the second curved rod is slidably mounted in the arc-shaped sliding groove of the fourth curved rod and is located on the side away from the cavity. The two ends of the second cross plate are connected to the center of the fourth curved rods of the two curved rod assemblies, and one end of the two third curved rods is hinged to the intersection of the large semicircle and small semicircle outer walls of the two cavity covers, respectively. The other end of the third curved rod is hinged to the two ends of the second cross plate and is located between the two fourth curved rods. The center of the third curved rod is provided with a U-shaped groove, which can be stuck on both sides of the first cross plate when the unfolding mechanism is closed and unfolded, so that the first cross plate and the third curved rod do not interfere with each other, and the mechanical properties of the unfolding mechanism when it is fully unfolded can be improved; the slide plate is an arc plate, which is installed between the two fourth curved rods and located between the second cross plate and the cavity; when the unfolding mechanism is folded, the slide plate and the two fourth curved rods are close to the arc surface of the small semi-cylinder of the cavity.

[0017] The first bent rod, the second bent rod, the third bent rod, the fourth bent rod and the slide plate of the bent rod assembly are all 120-degree arcs. The first bent rod is provided with a through hole at a 40-degree arc distance from one end thereof, and one end of the second bent rod is hinged at the through hole of the first bent rod; the arc-shaped sliding groove of the fourth bent rod is provided at a 25-degree to 40-degree arc distance from one end thereof; the diameter of the guard plate of the deforming wheel is larger than the diameter of the large semicircle of the cavity cover of the cavity, and the bent rod assembly is located between the two guard plates and does not exceed the edges of the two guard plates when closed.

[0018] The deployment mechanism also includes two rigid ropes. The U-shaped grooves in the centers of the two third curved rods are provided with wire holes. The second cross bar is provided with grooves on its sides near both ends. The two ends of the two rigid ropes are respectively connected to the wire holes of the two third curved rods and the two grooves of the second cross bar. The wire holes and the grooves are connected by rigid ropes to help the third curved rods to be retracted, thereby ensuring the uniqueness of the movement of the deployment mechanism.

[0019] The lifting mechanism comprises a lifting drive unit, two lifting assemblies, a lifting base plate, a moving cross bar and a fixed cross bar, the two lifting assemblies are symmetrically installed on the top surface of the lifting base plate, the lifting assembly comprises an upper angle plate, a first lifting rod, a second lifting rod and a lower angle plate, the upper angle plate and the lower angle plate are both L-shaped plates, the two lower angle plates are installed on the top surface of the lifting base plate opposite to each other at intervals, the two ends of the fixed cross bar are horizontally connected to one end of the two lower angle plates, the lifting drive unit is installed on the lifting base plate and is located in the middle of a side of the fixed cross bar away from the two lower angle plates, and horizontal sliding grooves are symmetrically provided on the side surfaces facing the other ends of the two lower angle plates, the two ends of the moving cross bar are horizontally connected to the sliding grooves of the two lower angle plates, and the screw of the lifting drive unit first passes through the center of the fixed cross bar horizontally and is then threadedly connected to the center of the moving cross bar; the two The two upper angle plates are respectively located directly above the two lower angle plates and opposite to the bottom surface of the top plate installed at intervals on the main body bracket. Horizontal sliding grooves are symmetrically opened on the opposite sides of one end of the two upper angle plates, and the sliding grooves of the two upper angle plates are respectively located directly above the sliding grooves of the two lower angle plates; the center of the first lifting rod and the second lifting rod are hinged to form an X shape, the lower ends of the two first lifting rods are hinged to the two ends of the fixed cross bar and are located between the two lower angle plates, the upper ends of the two first lifting rods are slidably installed in the sliding grooves of the two upper angle plates, the lower ends of the two second lifting rods are hinged to the two ends of the moving cross bar and are located between the two lower angle plates, and the upper ends of the two second lifting rods are hinged to one end of the two upper angle plates away from the sliding grooves; the sealed cabin is installed on the bottom surface of the lifting bottom plate; the lifting drive unit is electrically connected to the control panel of the detection control system.

[0020] The main support also includes a visual recognition system, which includes a plurality of depth cameras, each of which is installed at intervals on the top surface of the top plate, and each of the depth cameras is electrically or wirelessly connected to a control panel of the detection control system.

[0021] 2. A control method for an amphibious wheel-legged obstacle-crossing robot:

[0022] During the movement of the obstacle-crossing robot, in the initial state, the deployment mechanism of each deformable wheel is in a closed state, and the lifting mechanism is in a retracted state. The obstacle-crossing robot first uses the various depth cameras of the visual recognition system to capture the surrounding environment of the obstacle-crossing robot in real time and transmits it to the control panel of the detection control system for three-dimensional reconstruction and environmental analysis, and judges the three environments of flat ground, steps or water surface. In the flat ground environment, wheel control is adopted, and in the steps and water surface environment, leg control is adopted to realize the four forms of movement of rolling, climbing, walking and sliding on the water surface. The control panel sends the control signal to the four stepping motors, the dual-axis servos of the four deformable wheels and the lifting drive unit of the lifting mechanism through the four stepping motor adapters and the first signal transceiver.

[0023] When the obstacle-crossing robot rolls on flat ground, the four stepper motors rotate synchronously to drive the four deformable wheels to roll in a straight line, and the four stepper motors rotate differentially to drive the four deformable wheels to roll in a turning direction.

[0024] When the obstacle-crossing robot is walking on flat ground, the dual-axis servos of the four deformable wheels rotate forward for a preset number of circles and then are locked and fixed. When unfolding, the two bent rod assemblies and the skateboard of the unfolding mechanism of each deformable wheel rotate around one end of the first bent rod and move away from the cavity. At this time, the two fourth bent rods of the unfolding mechanism of each deformable wheel resist the ground and lift the obstacle-crossing robot as a whole. The four stepper motors alternately drive the four deformable wheels to perform walking movement.

[0025] When the obstacle-crossing robot performs climbing movement on the steps, the stepper motors driving the two front deformable wheels rotate and rotate the unfolding mechanism to the upper part of the deformable wheels, and the two bending rod assemblies and the skateboard are driven by the dual-axis servos of the two front deformable wheels to rotate around one end of the first bending rod and move away from the cavity. At this time, the bending direction of the two bending rod assemblies and the skateboard is toward the steps, until the free ends of the two front fourth bending rods rest against the surface of the upper step, and then the two bending rod assemblies and the skateboard are driven by the dual-axis servos of the two rear deformable wheels to rotate around one end of the first bending rod and move away from the cavity, and the obstacle-crossing robot is lifted as a whole, and the four stepper motors rotate synchronously, driving the four deformable wheels to perform step climbing movement.

[0026] When the obstacle-crossing robot performs surface gliding on the water, the dual-axis servos of each deformable wheel drive the two bent rod assemblies and the skateboard to rotate around one end of the first bent rod and move and unfold in the direction away from the cavity. At this time, the paddling area of ​​the skateboard increases, which is conducive to surface gliding. The lifting drive unit of the lifting mechanism drives the screw to rotate, and then moves the sealed cabin down into the water to provide buoyancy and adjust the posture. When the lifting drive unit drives the screw to rotate, the moving cross bar moves horizontally, and then drives the entire lifting drive unit to move vertically, realizing the lifting and lowering movement of the sealed cabin; the four stepper motors rotate synchronously, driving the skateboards of the unfolding mechanisms of the four deformable wheels to slide on the water surface, so as to perform the surface gliding movement of the obstacle-crossing robot. At the same time, the servo of the detection control system in the sealed cabin drives the camera to rotate to perform underwater detection in real time.

[0027] The beneficial effects of the present invention are:

[0028] Compared with traditional wheeled robots, the present invention adopts deformable wheels as driving wheels. According to the results of three-dimensional environment reconstruction and analysis, the deployment degree and deformation timing of the front and rear pairs of deformable wheels of the obstacle-crossing robot can be controlled, and the wheel mode and leg mode can be flexibly switched to realize various forms of movement such as rolling, climbing, walking, and gliding on the water surface, thereby overcoming various unstructured terrains; the liftable design of the sealed cabin and the camera set in the arc cover at its front end can be used to provide buoyancy, adjust posture and detect underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of an amphibious wheel-legged obstacle-crossing robot according to the present invention;

[0030] Figure 2 It is a structural schematic diagram of the main support in the present invention;

[0031] Figure 3 It is a structural schematic diagram of the deformation wheel in the present invention;

[0032] Figure 4 It is a schematic diagram of the structure of the cavity and the deployment mechanism in the present invention;

[0033] Figure 5 It is a structural schematic diagram of the lifting mechanism in the present invention;

[0034] Figure 6 It is a structural schematic diagram of the sealed cabin in the present invention;

[0035] In the figure: 1. main bracket, 11. wide-angle camera, 12. top plate, 13. gasket, 14. rolling drive mechanism, 141. motor bracket, 142. flange coupling, 143. stepping motor, 2. deformation wheel, 21. guard plate, 22. cavity, 221. cavity shell, 222. cavity cover, 23. unfolding mechanism, 231. first bending rod, 232. second bending rod, 233. third bending rod, 234. fourth bending rod, 24. first horizontal plate, 25. second horizontal plate, 26. slide plate, 27. waterproof plug, 3. lifting mechanism, 30. lifting drive unit, 31. upper folding angle plate, 32. first lifting rod, 33. second lifting rod, 34. lower folding angle plate, 35. lifting bottom plate, 36. moving cross bar, 37. fixed cross bar, 4. sealed cabin, 41. sealed cabin cover plate, 42. sealed cabin body. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. Moreover, in addition to being used to indicate orientation or positional relationships, some of the above terms may also be used to express other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to the specific circumstances.

[0039] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] like Figure 1As shown, the amphibious wheel-leg obstacle-crossing robot of the present invention comprises a main frame 1, four deformable wheels 2, a lifting mechanism 3, a sealed cabin 4 and a detection control system. The main frame 1 supports the obstacle-crossing robot as a whole. The four deformable wheels 2 are symmetrically installed at the four corners of the bottom of the main frame 1 and are used for the rolling, climbing, walking and water-surface gliding of the obstacle-crossing robot. The lifting mechanism 3 is installed at the center of the top bottom surface of the main frame 1. The sealed cabin 4 is installed on the bottom surface of the lifting mechanism 3 and moves up and down through the lifting mechanism 3 when the obstacle-crossing robot glides on the water surface to provide buoyancy, adjust the posture and detect underwater. The detection control system is installed in the sealed cabin 4 and is used for detection of the external environment and control of the four deformable wheels 2 and the lifting mechanism 3.

[0041] like Figure 2 As shown, the main support 1 includes a top plate 12, a plurality of thick gaskets 13 and four rolling drive mechanisms 14, the motor support 141 is a sheet metal part made by bending a 3mm thick high-hardness steel plate, the top plate 12 is a 5mm thick carbon fiber plate, and the thick gasket 13 is a 95mm thick waist-shaped ring-shaped ABS (Acrylonitrile-butdiene-styrene) gasket; the rolling drive mechanism 14 includes a motor support 141, a flange coupling 142, and a 57 stepper motor 143. The top plate 12 is arranged horizontally, and the motor support 141 of each rolling drive mechanism 14 is symmetrically installed directly below the four corners of the bottom surface of the top plate 12 through their respective plurality of vertically arranged gaskets 13. Each stepper motor 143 is installed on a respective motor support 141, and the output shaft of each stepper motor 143 is horizontally connected to the center of one side of a respective deformation wheel 2 through a respective flange coupling 142. The rolling drive mechanism 14 adopts a 57 stepper motor 143, which has precise stepping control, and is convenient for the deformable wheel to flexibly switch modes. Compared with servo motors of the same specifications, the stall torque is larger, which is convenient for climbing. The main support 1 also includes a visual recognition system, which includes a plurality of depth cameras 11. Each depth camera 11 is installed at intervals on the top surface of the top plate 12, and each depth camera 11 is electrically or wirelessly connected to the control panel of the detection control system. The three depth cameras 11 of the visual recognition system are respectively placed on the back, left and right sides of the top plate 12, and are used to realize three-dimensional reconstruction to adapt to complex terrain and changing environments, monitor and analyze changes in the surrounding environment in real time, and provide decision-making basis for the robot's path planning and mode switching.

[0042] like Figure 6As shown, the sealed cabin 4 includes two sealed cabin covers 41, a sealed cabin body 42 and a transparent arc cover. The two sealed cabin covers 41 are horizontally sealed on the upper and lower sides of the sealed cabin body 42. The upper sealed cabin cover 41 is installed on the bottom surface of the lifting base plate 35. A detection hole is opened in the center of one side of the sealed cabin body 42 facing the forward direction of the obstacle-crossing robot, and the transparent arc cover is sealed on the detection hole; the detection control system includes a first battery, a camera, a control board, four 57 stepper motor adapters, a steering gear and a first signal transceiver. The camera is installed in the arc cover sealing cover, and the output shaft of the steering gear is synchronously connected to the body of the camera. The first battery is electrically connected to the camera, the control board, the four 57 stepper motor adapters and the steering gear. The control board is electrically connected to the camera, the four 57 stepper motor adapters and the steering gear. The four 57 stepper motor adapters are respectively electrically connected to one 57 stepper motor 143 of each, and the control board is wirelessly connected to the four deformable wheels 2 and the lifting mechanism 3 through the first signal transceiver. The sealed cabin cover 41 and the sealed cabin body 42 are connected and compressed by nuts, and a sealing rubber ring is provided at the joint to enhance the sealing effect and maximize the normal operation of the components in the sealed cabin 4 underwater. The detection control system provides power for the robot, autonomously analyzes the surrounding environment and autonomously controls the operation of the deformation wheel 2; the steering gear is used to adjust the shooting angle of the camera and realize underwater detection.

[0043] like Figure 3As shown, the deformation wheel 2 includes two guard plates 21, a cavity 22 and an unfolding mechanism 23. The guard plate 21 is a high-strength plastic circular plate with a diameter of 200 mm and a thickness of 2 mm. A rubber ring is wrapped around the guard plate 21 to prevent slipping on the ground during rolling; the cavity 22 is installed between the two vertically arranged guard plates 21. The cavity 22 is a columnar cavity structure composed of two semi-cylinders with different diameters. The cavity 22 includes a cavity shell 221 and two cavity covers 222. The cavity shell 221 and the cavity cover 222 are both made of high-strength resin material 3D printing. The cavity shell 221 is installed between the two vertically arranged A deformable wheel sealed cabin is formed between the cavity cover 222, and the central axes of the two guard plates 21 and the cavity 22 are located on the same straight line. The center of one side of one of the guard plates 21 away from the cavity 22 is connected to the output shaft of the stepper motor 143 through a flange coupling 142; an RDS5160 dual-axis servo, a second battery and a second signal transceiver are also installed in the cavity 22. The second battery is a 24V, 3300mAh battery and a signal transceiver. The second battery can independently power the deformable wheel 2, and the second signal transceiver can provide wireless control signals for the RDS5160 dual-axis servo. The dual-axis servo is installed in the large semi-cylinder of the cavity 22 and near the center of the outer circumference. The output shaft of the dual-axis servo is horizontally passed through one of the cavity covers 222 of the cavity 22 and then hinged to one end of the unfolding mechanism 23. The middle part of the unfolding mechanism 23 is hinged at the intersection of the large semi-circle and small semi-circle outer walls of the two cavity covers 222 on the same side. The other end of the unfolding mechanism 23 is a free end. The second battery is electrically connected to the dual-axis servo, and the dual-axis servo is wirelessly connected to the first signal transceiver of the detection control system through the second signal transceiver. A waterproof plug 27 is also provided on the cavity 23 for charging the second battery, so as to realize independent power supply and wireless control of the deformable wheel 2. Guard plates 21 are provided on both sides of the deformable wheel 2 to protect the cavity 22 and the unfolding mechanism 23 in the wheel mode. An RDS5160 dual-axis servo is provided in the cavity 22 to drive the unfolding and closing of the unfolding mechanism 23.

[0044] like Figure 4As shown, the unfolding mechanism 23 includes two curved rod assemblies, a first transverse plate 24, a second transverse plate 25 and a slide plate 26. The two curved rod assemblies are symmetrically mounted on the two cavity covers 222 of the cavity 22 and each curved rod assembly is located between a respective cavity cover 222 and the guard plate 21. The curved rod assembly includes a first curved rod 231, a second curved rod 232, a third curved rod 233 and a fourth curved rod 234. All curved rods 231, 232, 233 and 234 are 3 mm thick carbon fiber plates, and interference fit is adopted when rigidly connected. The slide plate 37 is 1 mm thick soft PVC (PolyVinyl The first curved rod 231, the second curved rod 232, the third curved rod 233, the fourth curved rod 234 and the slide plate 26 are all bent in the direction toward the cavity 22, one end of the first curved rod 231 of one curved rod assembly is synchronously connected to the output shaft of the dual-axis steering gear at a cavity cover 222 through a flange, one end of the first curved rod 231 of another curved rod assembly is symmetrically hinged on the other cavity cover 222 of the cavity 22, and the other end of the first curved rod 231 is hinged to the fourth curved rod The first cross plate 24 is hinged to the hinged joints of the first curved rod 231 and the fourth curved rod 234 of the two curved rod assemblies, and the other ends of the two first curved rods 231 are located between the ends of the two fourth curved rods 234; one end of the second curved rod 232 is hinged to the side of the end of the first curved rod 231 close to itself and is located on the side away from the cavity 22, and an arc-shaped sliding groove is provided between one end of the fourth curved rod 234 and its center The other end of the second curved rod 232 is slidably mounted in the arc-shaped sliding groove of the fourth curved rod 234 and is located on the side away from the cavity 22. The two ends of the second cross plate 25 are connected to the center of the fourth curved rod 234 of the two curved rod assemblies. One end of the two third curved rods 233 is respectively hinged to the intersection of the large semicircle and small semicircle outer side walls of the two cavity covers 222. The other end of the third curved rod 233 is hinged to the two ends of the second cross plate 25 and is located between the two fourth curved rods 234. The center of the third curved rod 233 The center is provided with a U-shaped groove, which can be stuck on both sides of the first horizontal plate 24 when the unfolding mechanism 23 is closed and unfolded, so that the first horizontal plate 24 and the third curved rod 233 do not interfere with each other, and the mechanical properties when the unfolding mechanism 23 is fully unfolded can be improved; the slide plate 26 is an arc-shaped plate, which is installed between the two fourth curved rods 234 and located between the second horizontal plate 25 and the cavity 22; when the unfolding mechanism 23 is folded, the slide plate 26 and the two fourth curved rods 234 are close to the arc surface of the small semi-cylinder of the cavity 22. The two curved rod components are distributed in a mirror image, which is used to improve the mechanical properties and enhance the stability; the slide plate 26 can be used for gliding on the water surface when the unfolding mechanism 23 is fully unfolded. The unfolding mechanism 23 is an actuator to realize the deformation function of the deformable wheel 2, which is divided into an active side and a driven side. The active side is an active part, and the driven side is a driven part, which plays an auxiliary role and improves the mechanical properties and stability.The deformable wheels 2 can realize flexible switching between wheel mode and leg mode according to the specific terrain. The unfolding mechanism 23 is used to perform the deformation function. By controlling the unfolding degree and deformation timing of the two pairs of deformable wheels 2, various forms of movement such as rolling, climbing, walking, and water sliding can be realized, thereby overcoming various unstructured terrains.

[0045] The first curved rod 231, the second curved rod 232, the third curved rod 233, the fourth curved rod 234 and the slide plate 26 of the curved rod assembly are all 120-degree arcs. The first curved rod 231 has a through hole at a 40-degree arc distance from one end thereof, and one end of the second curved rod 232 is hinged at the through hole of the first curved rod 231; the arc-shaped sliding groove of the fourth curved rod 234 is provided at an arc distance of 25 to 40 degrees from one end thereof; the diameter of the guard plate 21 of the deforming wheel 2 is larger than the diameter of the greater semicircle of the cavity cover 222 of the cavity 22, and when the curved rod assembly is closed, it is located between the two guard plates 21 and does not exceed the edges of the two guard plates 21.

[0046] The deployment mechanism 23 also includes two rigid ropes. The U-shaped grooves in the centers of the two third curved rods 233 are provided with wire holes. The second cross bar 35 is provided with grooves on its sides near both ends. The two ends of the two rigid ropes are respectively connected to the wire holes of the two third curved rods 233 and the two grooves of the second cross bar 35. The wire holes and the grooves are connected by rigid ropes to help the third curved rods 233 to be retracted, thereby ensuring the uniqueness of the movement of the deployment mechanism 23.

[0047] like Figure 5As shown, the lifting mechanism 3 includes a lifting drive unit 30, two lifting components, a lifting base plate 35, a moving cross bar 36 and a fixed cross bar 37. The two lifting components are symmetrically installed on the top surface of the lifting base plate 35. The lifting components include an upper angle plate 31, a first lifting rod 32, a second lifting rod 33 and a lower angle plate 34. The upper angle plate 31 and the lower angle plate 34 are both L-shaped plates. The two lower angle plates 34 are installed on the top surface of the lifting base plate 35 opposite to each other at intervals. Both ends of the fixed cross bar 37 are horizontally connected to one end of the two lower angle plates 34. The lifting drive unit 30 is installed on the lifting base plate 35 and is located in the middle of a side of the fixed cross bar 37 away from the two lower angle plates 34. Horizontal sliding grooves are symmetrically provided on the side opposite to the other ends of the two lower angle plates 34. Both ends of the moving cross bar 36 are horizontally connected to the sliding grooves of the two lower angle plates 34. The screw of the lifting drive unit 30 first horizontally passes through the center of the fixed cross bar 37 and is then threadedly connected to the moving cross bar 36. The center of the first lifting rod 32 and the second lifting rod 33 are respectively hinged to form an X shape, the lower ends of the two first lifting rods 32 are hinged to the two ends of the fixed cross bar 37 and are located between the two lower angle plates 34, the upper ends of the two first lifting rods 32 are slidably installed in the sliding grooves of the two upper angle plates 31, the lower ends of the two second lifting rods 33 are hinged to the two ends of the moving cross bar 36 and are located between the two lower angle plates 34, and the upper ends of the two second lifting rods 33 are hinged to the ends of the two upper angle plates 31 away from the sliding grooves; the sealed cabin 4 is installed on the bottom surface of the lifting bottom plate 35; the lifting drive unit 30 is electrically connected to the control panel of the detection control system. The lifting drive unit 30 of the lifting mechanism 3 adopts a servo drive screw. When the lifting drive unit 30 drives the screw to rotate, the movable cross bar 36 moves horizontally, thereby driving the entire lifting motion unit 30 to move vertically, thereby driving the X-shaped lifting rods 32 and 33 to open and close to realize the lifting design, realize precise and controllable lifting, provide buoyancy and adjust the posture when the robot is in a water gliding state.

[0048] The control method of the amphibious wheel-legged obstacle-crossing robot of the present invention is specifically as follows:

[0049] When the obstacle-crossing robot is moving, in the initial state, the deployment mechanism 23 of each deformable wheel 2 is in a closed state, and the lifting mechanism 3 is in a retracted state. The obstacle-crossing robot first uses the various depth cameras 11 of the visual recognition system to shoot the surrounding environment of the obstacle-crossing robot in real time and transmits it to the control panel of the detection control system for three-dimensional reconstruction and environmental analysis, and judges the three environments of flat ground, steps or water surface. In the flat ground environment, wheel control is adopted, and in the steps and water surface environment, leg control is adopted to realize the four forms of movement of rolling, climbing, walking and sliding on the water surface. The control panel sends the control signal to the four stepping motors 143, the dual-axis servos of the four deformable wheels 2 and the lifting drive unit 30 of the lifting mechanism 3 through the four stepping motor adapters and the first signal transceiver.

[0050] When the obstacle-crossing robot performs rolling motion on flat ground, the four stepping motors 143 rotate synchronously to drive the four deformable wheels 2 to perform linear rolling, and the four stepping motors 143 rotate differentially to drive the four deformable wheels 2 to perform turning rolling.

[0051] When the obstacle-crossing robot is walking on flat ground, the dual-axis servos of the four deformable wheels 2 are rotated forward for a preset number of circles and then locked and fixed. When unfolding, the two bent rod assemblies and the slide plate 26 of the unfolding mechanism 23 of each deformable wheel 2 rotate around one end of the first bent rod 231 and move away from the cavity 22. At this time, the two fourth bent rods 234 of the unfolding mechanism 23 of each deformable wheel 2 are against the ground and lift the obstacle-crossing robot as a whole. The four stepper motors 143 alternately drive the four deformable wheels 2 to perform walking movement.

[0052] When the obstacle-crossing robot performs climbing movement on the steps, the stepper motor 143 driving the two front deforming wheels 2 rotates and rotates the unfolding mechanism 23 to the upper part of the deforming wheel 2, and the two bending rod assemblies and the skateboard 26 are driven by the dual-axis servos of the two front deforming wheels 2 to rotate around one end of the first bending rod 231 and move in the direction away from the cavity 22. At this time, the bending direction of the two bending rod assemblies and the skateboard 26 is toward the step, until the free ends of the two front fourth bending rods 234 are against the table surface of the upper step, and then the two bending rod assemblies and the skateboard 26 are driven by the dual-axis servos of the two rear deforming wheels 2 to rotate around one end of the first bending rod 231 and move in the direction away from the cavity 22, and the obstacle-crossing robot is lifted as a whole, and the four stepper motors 143 rotate synchronously, driving the four deforming wheels 2 to perform step climbing movement.

[0053] When the obstacle-crossing robot performs surface gliding on the water, the two-axis servos of each deformable wheel 2 drive the two bending rod assemblies and the skateboard 26 to rotate around one end of the first bending rod 231 and move and unfold in the direction away from the cavity 22. At this time, the paddling area of ​​the skateboard 26 increases, which is conducive to surface gliding; the lifting drive unit 30 of the lifting mechanism 3 drives the screw to rotate, and then moves the sealed cabin 4 downward into the water to provide buoyancy and adjust the posture. When the lifting drive unit 30 drives the screw to rotate, the moving cross bar 36 moves horizontally, thereby pushing the entire lifting drive unit 30 to move vertically, realizing the lifting and lowering movement of the sealed cabin 4; the four stepping motors 143 rotate synchronously, driving the skateboards 26 of the unfolding mechanisms 23 of the four deformable wheels 2 to slide on the water surface, so as to perform the surface gliding movement of the obstacle-crossing robot. At the same time, the servo of the detection control system in the sealed cabin 22 drives the camera to rotate to perform underwater detection in real time.

[0054] When the deformable wheel 2 needs to be deformed and unfolded, the first curved rod 231 rotates around the main axis under the drive of the dual-axis steering gear, and pushes the second curved rod 231, the first cross bar 24, the fourth curved rod 234, the second cross bar 25 and the third curved rod 233 to rotate in sequence. At the same time, the second curved rod 232 will move downward along the arc-shaped slide groove on the fourth curved rod 234, prompting the fourth curved rod 234 to turn outward and form a claw shape for gripping and climbing, and the driven side unfolding mechanism 23 will unfold with it to play an auxiliary role; the sliding area of ​​the slide plate 26 is increased for sliding on the water surface; when the unfolding mechanism 23 is unfolded to the maximum position, the first cross bar 24 is buckled into the U-shaped groove of the third curved rod 233, and the third curved rod 233 and the fourth curved rod 234 overlap, with the best force performance; when the unfolding mechanism 23 is closed, the rigid rope located between the wire hole and the groove on the first cross bar 24 can help the third curved rod 233 to be retracted, thereby ensuring the uniqueness of the movement of the unfolding mechanism 23.

[0055] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An amphibious wheel-legged obstacle-crossing robot, characterized in that: include: A main frame (1), used for overall support of the obstacle-crossing robot; Four deformable wheels (2) are symmetrically mounted at the four corners of the bottom of the main frame (1) and are used for the rolling, climbing, walking and water-surface sliding of the obstacle-crossing robot; A lifting mechanism (3) is installed at the center of the top bottom surface of the main frame (1); A sealed cabin (4) is installed on the bottom surface of the lifting mechanism (3) and moves up and down through the lifting mechanism (3) when the obstacle-crossing robot glides on the water surface to provide buoyancy, adjust posture and perform underwater detection; A detection control system is installed in the sealed cabin (4) and is used for detecting the external environment and controlling the four deformation wheels (2) and the lifting mechanism (3).

2. The amphibious wheel-legged obstacle-crossing robot according to claim 1, characterized in that: The main body support (1) comprises a top plate (12), a plurality of gaskets (13) and four rolling drive mechanisms (14); the rolling drive mechanism (14) comprises a motor support (141), a flange coupling (142) and a stepper motor (143); the top plate (12) is arranged horizontally; the motor support (141) of each rolling drive mechanism (14) is symmetrically mounted directly below the four corners of the bottom surface of the top plate (12) through a plurality of vertically arranged gaskets (13); each stepper motor (143) is mounted on a respective motor support (141); and the output shaft of each stepper motor (143) is horizontally connected to the center of one side of a respective deformation wheel (2) through a respective flange coupling (142).

3. The amphibious wheel-legged obstacle-crossing robot according to claim 2, characterized in that: The sealed cabin (4) comprises two sealed cabin covers (41), a sealed cabin body (42) and a transparent arc cover, wherein the two sealed cabin covers (41) are horizontally sealed on the upper and lower sides of the sealed cabin body (42), the upper sealed cabin cover (41) is installed on the bottom surface of the lifting base plate (35), a detection hole is opened at the center of one side of the sealed cabin body (42) facing the forward direction of the obstacle-crossing robot, and the transparent arc cover is sealed on the detection hole; the detection control system comprises a first battery, a camera, a control board, four stepper motor adapters, a steering gear and a first signal transceiver, the camera is installed in the arc cover sealing cover, the output shaft of the steering gear is synchronously connected to the body of the camera, the first battery is electrically connected to the camera, the control board, the four stepper motor adapters and the steering gear, the control board is electrically connected to the camera, the four stepper motor adapters and the steering gear, the four stepper motor adapters are electrically connected to their respective stepper motors (143), and the control board is wirelessly connected to the four deformable wheels (2) and the lifting mechanism (3) through the first signal transceiver.

4. The amphibious wheel-legged obstacle-crossing robot according to claim 3, characterized in that: The deformation wheel (2) comprises two guard plates (21), a cavity (22) and an unfolding mechanism (23), wherein the guard plate (21) is in the shape of a circular plate, the cavity (22) is installed between the two guard plates (21) arranged vertically, the cavity (22) is a columnar cavity structure composed of two semi-cylinders with different diameters, the cavity (22) comprises a cavity shell (221) and two cavity covers (222), the cavity shell (221) is installed between the two cavity covers (222) arranged vertically to form a deformation wheel sealed cabin, the central axes of the two guard plates (21) and the cavity (22) are located on the same straight line, and the center of a side of one of the guard plates (21) away from the cavity (22) is connected to the center of the side of the guard plate (21) through a flange coupling (142) The output shaft of the stepper motor (143); a dual-axis steering gear, a second battery and a second signal transceiver are also installed in the cavity (22); the dual-axis steering gear is installed in the large semi-cylinder of the cavity (22) and close to the center of the outer circumference; the output shaft of the dual-axis steering gear is horizontally passed through one of the cavity covers (222) of the cavity (22) and then hinged to one end of the unfolding mechanism (23); the middle part of the unfolding mechanism (23) is hinged at the intersection of the large semi-circle and small semi-circle outer side walls of the two cavity covers (222) on the same side; the other end of the unfolding mechanism (23) is a free end; the second battery is electrically connected to the dual-axis steering gear, and the dual-axis steering gear is wirelessly connected to the first signal transceiver of the detection control system through the second signal transceiver.

5. The amphibious wheel-legged obstacle-crossing robot according to claim 4, characterized in that: The deployment mechanism (23) comprises two bent rod assemblies, a first transverse plate (24), a second transverse plate (25) and a slide plate (26); the two bent rod assemblies are symmetrically mounted on two cavity covers (222) of the cavity (22), and each bent rod assembly is located between a respective cavity cover (222) and the guard plate (21); the bent rod assembly comprises a first bent rod (231), a second bent rod (232), a third bent rod (233) and a fourth bent rod (234); the first bent rod (231), the second bent rod (232), the third bent rod (233), and the fourth bent rod (234) are The bent rod (234) and the slide plate (26) are both bent in a direction toward the cavity (22); one end of a first bent rod (231) of one bent rod assembly is synchronously connected to an output shaft of a dual-axis steering gear at a cavity cover (222); one end of a first bent rod (231) of another bent rod assembly is symmetrically hinged on another cavity cover (222) of the cavity (22); the other end of the first bent rod (231) is hinged to one end of a fourth bent rod (234); the other end of the fourth bent rod (234) is a free end; and the two ends of the first cross plate (24) are respectively hinged to the two At the hinged joint of the first curved rod (231) and the fourth curved rod (234) of the curved rod assembly, the other ends of the two first curved rods (231) are located between one ends of the two fourth curved rods (234); one end of the second curved rod (232) is hinged to the side of one end of the first curved rod (231) close to itself and is located on a side away from the cavity (22); an arc-shaped sliding groove is provided between one end of the fourth curved rod (234) and its center; the other end of the second curved rod (232) is slidably installed in the arc-shaped sliding groove of the fourth curved rod (234) and is located away from the cavity (22); 2), two ends of the second horizontal plate (25) are connected to the center of the fourth curved rods (234) of the two curved rod assemblies, one end of the two third curved rods (233) are respectively hinged to the intersection of the large semicircle and small semicircle outer side walls of the two cavity covers (222), and the other end of the third curved rod (233) is hinged to the two ends of the second horizontal plate (25) and is located between the two fourth curved rods (234); the slide plate (26) is an arc-shaped plate, and the slide plate (26) is installed between the two fourth curved rods (234) and is located between the second horizontal plate (25) and the cavity (22).

6. The amphibious wheel-legged obstacle-crossing robot according to claim 5, characterized in that: The first curved rod (231), the second curved rod (232), the third curved rod (233), the fourth curved rod (234) and the slide plate (26) of the curved rod assembly are all 120-degree arcs; the first curved rod (231) is provided with a through hole at a 40-degree arc distance from one end thereof; one end of the second curved rod (232) is hinged at the through hole of the first curved rod (231); the arc-shaped sliding groove of the fourth curved rod (234) is provided at a 25-degree to 40-degree arc distance from one end thereof; the diameter of the guard plate (21) of the deformation wheel (2) is larger than the diameter of the larger semicircle of the cavity cover (222) of the cavity (22); when the curved rod assembly is closed, it is located between the two guard plates (21) and does not exceed the edges of the two guard plates (21).

7. The amphibious wheel-legged obstacle-crossing robot according to claim 5, characterized in that: The unfolding mechanism (23) further comprises two rigid ropes, the centers of the two third curved rods (233) are provided with wire holes, the sides of the second cross rod (35) close to its two ends are provided with grooves, and the two ends of the two rigid ropes are respectively connected to the wire holes of the two third curved rods (233) and the two grooves of the second cross rod (35).

8. The amphibious wheel-legged obstacle-crossing robot according to claim 3, characterized in that: The lifting mechanism (3) comprises a lifting drive unit (30), two lifting components, a lifting base plate (35), a movable cross bar (36) and a fixed cross bar (37). The two lifting components are symmetrically mounted on the top surface of the lifting base plate (35). The lifting components comprise an upper angled plate (31), a first lifting rod (32), a second lifting rod (33) and a lower angled plate (34). Both the upper angled plate (31) and the lower angled plate (34) are L-shaped plates. The two lower angled plates (34) are mounted on the top surface of the lifting base plate (35) opposite to each other and spaced apart. The fixed cross bar The two ends of the movable cross bar (36) are horizontally connected to one end of the two lower angle plates (34). The lifting drive unit (30) is installed on the lifting bottom plate (35) and is located in the middle of the side of the fixed cross bar (37) away from the two lower angle plates (34). The side surfaces opposite to the other ends of the two lower angle plates (34) are symmetrically provided with horizontal sliding grooves. The two ends of the movable cross bar (36) are horizontally connected to the sliding grooves of the two lower angle plates (34). The screw of the lifting drive unit (30) first passes horizontally through the center of the fixed cross bar (37) and is then threadedly connected to the movable cross bar. (36); the two upper angle plates (31) are respectively located directly above the two lower angle plates (34) and are opposite to the bottom surface of the top plate (12) of the main frame (1) and are installed at intervals; horizontal sliding grooves are symmetrically provided on the opposite sides of one end of the two upper angle plates (31); the sliding grooves of the two upper angle plates (31) are respectively located directly above the sliding grooves of the two lower angle plates (34); the first lifting rod (32) and the second lifting rod (33) are centrally hinged to form an X shape, and the lower ends of the two first lifting rods (32) are hinged to the fixed cross bar ( The two ends of the movable cross bar (36) are respectively located at two ends of the movable cross bar (37) and are located between the two lower angle plates (34); the upper ends of the two first lifting rods (32) are slidably installed in the sliding grooves of the two upper angle plates (31); the lower ends of the two second lifting rods (33) are hinged to the two ends of the movable cross bar (36) and are located between the two lower angle plates (34); the upper ends of the two second lifting rods (33) are hinged to one end of the two upper angle plates (31) away from the sliding groove; the sealed cabin (4) is installed on the bottom surface of the lifting bottom plate (35); and the lifting drive unit (30) is electrically connected to the control panel of the detection control system.

9. The amphibious wheel-legged obstacle-crossing robot according to claim 3, characterized in that: The main support (1) also includes a visual recognition system, which includes a plurality of depth cameras (11), each of which is installed at intervals on the top surface of the top plate (12), and each of which is electrically or wirelessly connected to a control panel of the detection control system.

10. The control method of the amphibious wheel-legged obstacle-crossing robot according to any one of claims 1 to 9, characterized in that: include: During the movement of the obstacle-crossing robot, in the initial state, the deployment mechanism (23) of each deformable wheel (2) is in a closed state, and the lifting mechanism (3) is in a retracted state. The obstacle-crossing robot first uses the depth cameras (11) of the visual recognition system to take real-time photos of the surrounding environment of the obstacle-crossing robot and transmits the photos to the control panel of the detection control system for three-dimensional reconstruction and environmental analysis, and determines the three environments of flat ground, steps or water surface. In the flat ground environment, wheel control is adopted, and in the steps and water surface environment, leg control is adopted to achieve four forms of movement: rolling, climbing, walking and sliding on the water surface. The control panel sends the control signal to the four stepping motors (143), the dual-axis steering gears of the four deformable wheels (2) and the lifting drive unit (30) of the lifting mechanism (3) through the four stepping motor adapters and the first signal transceiver. When the obstacle-crossing robot performs rolling motion on a flat ground, the four stepping motors (143) rotate synchronously to drive the four deformable wheels (2) to perform linear rolling, and the four stepping motors (143) rotate differentially to drive the four deformable wheels (2) to perform turning rolling; When the obstacle-crossing robot is walking on a flat ground, the two-axis steering gears of the four deformable wheels (2) rotate in the forward direction for a preset number of turns and are locked and fixed. When unfolding, the two curved rod assemblies and the slide plate (26) of the unfolding mechanism (23) of each deformable wheel (2) rotate around one end of the first curved rod (231) and move in a direction away from the cavity (22). At this time, the two fourth curved rods (234) of the unfolding mechanism (23) of each deformable wheel (2) are against the ground and the obstacle-crossing robot is lifted as a whole. The four stepping motors (143) alternately drive the four deformable wheels (2) to perform walking movement. When the obstacle-crossing robot performs climbing motion on the steps, the stepper motors (143) driving the two front deformable wheels (2) rotate and rotate the unfolding mechanism (23) to the upper part of the deformable wheels (2), and the two-axis steering gears of the two front deformable wheels (2) drive the two bending rod assemblies and the slide plate (26) to rotate around one end of the first bending rod (231) and move in a direction away from the cavity (22). At this time, the bending direction of the two bending rod assemblies and the slide plate (26) is toward the step, until the free ends of the two front fourth bending rods (234) abut against the table surface of the upper step, and then the two-axis steering gears of the two rear deformable wheels (2) drive the two bending rod assemblies and the slide plate (26) to rotate around one end of the first bending rod (231) and move in a direction away from the cavity (22), and the obstacle-crossing robot is lifted as a whole, and the four stepper motors (143) rotate synchronously, driving the four deformable wheels (2) to perform step climbing motion; When the obstacle-crossing robot performs a water-surface gliding motion on the water surface, the two-axis steering gear of each deformable wheel (2) drives the two curved rod assemblies and the slide plate (26) to rotate around one end of the first curved rod (231) and move in a direction away from the cavity (22) to unfold, and the lifting drive unit (30) of the lifting mechanism (3) drives the screw to rotate, thereby moving the sealed cabin (4) downward into the water to provide buoyancy and adjust the posture, and the four stepping motors (143) rotate synchronously to drive the slide plates (26) of the unfolding mechanisms (23) of the four deformable wheels (2) to slide on the water surface, so that the obstacle-crossing robot performs a water-surface gliding motion, and at the same time, the steering gear of the detection control system in the sealed cabin (22) drives the camera to rotate to perform underwater detection in real time.

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