Amphibious robot with coaxial wheel blades and use method of amphibious robot

Abstract

The invention relates to a wheel and paddle coaxial amphibious robot and a using method thereof, and belongs to the technical field of robot aircrafts. Comprising a fuselage, four deformation modules, connecting rods and an air-ground execution mechanism, the four deformation modules are evenly arranged on the fuselage, the deformation modules are connected with the air-ground execution mechanism through the connecting rods, and the deformation modules are used for controlling position change of the air-ground execution mechanism, so that conversion between a land mode and an unmanned aerial vehicle mode is achieved. The coaxial design that the wheel motor directly drives the wheel is adopted, compared with other gear transmission and synchronous belt transmission for driving the wheel, errors and friction loss caused by transmission are avoided, and meanwhile the situation that the mass is reduced due to the use of a bearing is avoided; the design of the channel in the center of the sleeve further provides convenience for line arrangement of the blade motor, and the problem of line winding is effectively solved through the fixing mode of the blade motor base.

Description

Technical Field

[0001] The invention relates to an amphibious robot and a use method thereof, belonging to the technical field of robot aircraft. Background Art

[0002] Drone technology has made remarkable progress in recent years and has become an indispensable branch in the field of modern science and technology. Despite this, the working mode of drones is still relatively single, and the problem of endurance has become a bottleneck limiting their application. In the complex scenes of disaster relief, drones need to have the ability of both aerial reconnaissance and ground mobility to adapt to changing operational needs. At present, the battery life of ground unmanned vehicles can reach 1-3 hours, while the battery life of multi-rotor drones is only 5-30 minutes. This difference is mainly due to the fact that drones need to overcome gravity, while unmanned vehicles only need to overcome friction. The advantage of drones is that they can easily fly over obstacles, while unmanned vehicles find it difficult to cross obstacles, so both working modes have their advantages and disadvantages.

[0003] In the research of amphibious robots, in order to solve the problem of line entanglement caused by the rotation of the blade motor base when the motor directly drives the wheel, gear transmission or synchronous belt transmission is usually used as the wheel drive method. Although these transmission methods avoid the line entanglement problem, they also introduce transmission errors and friction losses, affecting the performance and efficiency of the robot.

[0004] In summary, existing drones generally have the problems of single working mode, short endurance, low flight efficiency, and poor ground maneuverability; for example: the invention with the publication number CN112498034A is called a land-air amphibious robot with integrated wheel and propeller. Its technical solution discloses that the gear transmission deformation mechanism changes the position of the impeller assembly by meshing and transmitting motion with spur gears and bevel gears, and has the characteristics of stable transmission and high transmission efficiency. The use of gear transmission is prone to transmission error, friction loss and noise, and the additional use of bearings and other gear transmissions increases its mass, affecting the maneuverability of aerial flight.

[0005] Therefore, there is an urgent need to propose a wheel-blade coaxial amphibious robot and a method of using the same to solve the above-mentioned technical problems. Summary of the invention

[0006] To solve the above problems, a wheel-blade coaxial amphibious robot and a method of using the same are provided. A brief overview of the invention is given below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive overview of the invention. It is not intended to identify the key or important parts of the invention, nor is it intended to limit the scope of the invention.

[0007] The technical solution of the present invention:

[0008] A wheel-blade coaxial amphibious robot comprises a fuselage, a deformation module, a connecting rod and a land-air actuator. Four deformation modules are evenly arranged on the fuselage. The deformation modules are connected to the land-air actuator through the connecting rod. The deformation modules are used to control the position change of the land-air actuator, thereby realizing the conversion between land mode and UAV mode.

[0009] Preferably: the deformation module includes a motor fixing plate, a main motor, a first motor connecting member, an auxiliary motor and a second motor connecting member, the main motor is connected to the fuselage through the motor fixing plate, the output end of the main motor is connected to the auxiliary motor through the first motor connecting member, the pitch angle adjustment (pitch position change) of the land-to-air actuator is achieved by controlling the pitch movement of the auxiliary motor housing through the main motor, the output end of the auxiliary motor is connected to one end of the connecting rod through the second motor connecting member, the auxiliary motor controls the forward and backward movement of the connecting rod to achieve the forward and backward angle adjustment (forward and backward position change) of the land-to-air actuator, and the main motor and the auxiliary motor can use servo motors.

[0010] Preferably: the land-air actuator includes a sleeve, a wheel motor, a wheel, a paddle motor and a paddle. The wheel motor and the paddle motor can be brushless motors. The wheel motor is connected to the other end of the connecting rod, and the output end of the wheel motor is connected to the wheel axis. The wheel motor is hollow, one end of the sleeve is connected to the connecting rod, and the other end of the sleeve passes through the hollow structure of the wheel motor axis and is connected to the paddle motor. The output end of the paddle motor is connected to the paddle axis, so that the paddle and the wheel are coaxially arranged.

[0011] Preferably: the sleeve comprises a sleeve core and a sleeve cover, the sleeve core is designed to penetrate the central axis of the wheel motor and is screwed together with the sleeve core through an internal thread, and the sleeve cover is tightly connected to the paddle motor through a fastening screw;

[0012] The wheel includes an inner plate and an outer plate, the inner plate includes an inner ring plate and an outer ring plate, the inner ring plate and the outer ring plate are coaxially connected by evenly distributed radial rods, the outer plate is annular, the outer plate and the outer ring plate of the inner plate are connected by evenly arranged axial rods, the sleeve core sequentially passes through the wheel motor and the central through hole of the inner ring plate and is connected to the sleeve cover, and the sleeve cover is connected to the blade motor housing.

[0013] Preferably: the connecting rod includes a connecting block, a connecting plate and a reinforcing rib, the second motor connecting member is connected to one end of the connecting plate by screws, and a reinforcing rib is fixedly arranged on the connecting plate. In order to increase the stiffness of the connecting rod, two rows of reinforcing ribs 603 are arranged, one end of the reinforcing rib is connected to the second motor connecting member by screws, and the other end of the reinforcing rib is connected to the connecting block by bolts; the connecting block is also connected to the connecting plate by bolts, the connecting block is located between the two rows of connecting plates, and the other end of the connecting plate is connected to the sleeve and wheel motor of the land-air actuator.

[0014] Preferably: the fuselage includes a top plate, a rear plate, a front plate, a side plate and a bottom plate, the rear plate, a side plate, the front plate and the other side plate are connected end to end in sequence to form an annular shell, the top plate and the bottom plate are respectively arranged on the upper and lower sides of the annular shell, the top plate is connected to the motor fixing plate by bolts, and the motor fixing plate can be arranged inside the annular shell or between the side plate and the front plate or the rear half.

[0015] Preferably: it also includes legs, and two legs symmetrically arranged on the left and right are installed on the lower side of the base plate by bolts; the legs include a bracket and a base, the two legs on the upper part of the bracket are connected to the base plate by bolts, and the three legs on the lower part of the bracket are connected to the base by bolts.

[0016] Preferably, it also includes a control module and a power module, wherein the control module is arranged on the bottom plate, and the power module is arranged on the lower side of the bottom plate, and the power module is located between the two legs.

[0017] Preferably: the control module comprises a distribution board, an onboard computer, a flight controller, a laser radar and a receiver, the upper side of the bottom plate is connected to the distribution board through screws and studs, the upper side of the distribution board is connected to the flight controller through screws and studs, the top plate is connected to the laser radar and the onboard computer through screws, and the top plate is connected to the receiver through bonding;

[0018] The onboard computer model is Jetson Orin NX, the flight controller model is Holybro Pixhawk6C, and the lidar model is Livox Mid-360;

[0019] The serial port interface of the onboard computer is connected to the serial port interface of the flight controller, the Ethernet interface of the onboard computer is connected to the laser radar, the PWM interface of the onboard computer is connected to the main motor and the auxiliary motor, the CAN interface of the onboard computer is connected to the wheel motor, the serial port interface of the flight controller is connected to the receiver, the ground computer communicates with the receiver through UDP, and communicates with the onboard computer through Wi-Fi;

[0020] The power module includes a battery and a battery support plate, the bottom plate is connected to the battery support plate by screws and studs, and the battery support plate and the battery are fixed by binding straps;

[0021] The battery is a lithium battery 6S, 4000mAh, which is used to supply power to the onboard computer, the flight controller, the receiver, the laser radar, the main motor, the auxiliary motor, the wheel motor, and the blade motor.

[0022] A method for using a wheel-blade coaxial amphibious robot, using a wheel-blade coaxial amphibious robot (referred to as the robot), comprises the following steps:

[0023] Unmanned vehicle initialization:

[0024] After the robot is powered on, the program in the onboard computer is started, all motors are locked, and the receiver and the remote controller are successfully linked. Initialization is completed and the robot is in unmanned vehicle mode after initialization.

[0025] Unmanned vehicle mode:

[0026] The robot is in unmanned vehicle mode in a flat environment. The wheel motor directly drives the wheels to rotate, and the robot can move forward and backward. The robot is controlled to complete the turning movement through the four-wheel differential drive mode, and the PID control is used to make each wheel motor reach its desired speed.

[0027] Crouch Mode:

[0028] When encountering a height-restricted obstacle, the robot needs to enter crouching mode; the remote controller sends a configuration change command to the receiver, the onboard computer executes the corresponding program, the auxiliary motor output ends rotate 45 degrees each to reach the expected position, the robot's height is lowered, and it is in a crouching state to pass the obstacle; when the robot is in crouching mode, it can be switched to unmanned vehicle mode or drone mode at will;

[0029] Drone Mode:

[0030] When the environment is rugged and there are too many obstacles, the robot is in crouching mode, the main motor output remains locked, and the auxiliary motor output continues to rotate 45 degrees each. During this process, the wheels gradually leave the ground and no longer bear the load, and the base gradually contacts the ground to bear the load. Finally, the second motor connector reaches the mechanical limit position, such as Figure 6 As shown; then the main motor output end rotates 90 degrees, and the auxiliary motor output end rotates 62 degrees in the opposite direction. The two rotate at the same time to avoid interference between parts. At this time, the base of the robot touches the ground and bears all the load. The robot enters the drone mode to fly over obstacles; the unmanned vehicle mode, crouching mode, and drone mode can be converted between adjacent modes.

[0031] The present invention has the following beneficial effects:

[0032] The present invention adopts a coaxial design in which the wheel motor directly drives the wheel. Compared with other gear transmission and synchronous belt transmission to drive the wheel, the present invention avoids the error and friction loss caused by the transmission, and avoids the use of bearings to reduce the quality.

[0033] The channel design at the center of the sleeve of the present invention also facilitates the wiring arrangement of the blade motor, and the fixing method of the blade motor base effectively solves the wiring winding problem;

[0034] The present invention can be configured to be a drone and an unmanned vehicle, and also has a crouching mode that can lower the height to pass through height-restricted obstacles.

[0035] The present invention uses a motor to directly drive the wheels, which can avoid the transmission errors, friction losses and noises easily generated by gear transmission, and the disadvantages of additional bearings and the like in combination with the gear transmission which increase its mass and affect its maneuverability in the air. The invention also cleverly uses a hollow motor and a sleeve center wiring, which not only fixes the blade motor base to avoid line entanglement but also increases the stability of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a three-dimensional schematic diagram of a wheel-blade coaxial amphibious robot according to the present invention;

[0037] Figure 2 It is a schematic diagram of the partial explosion and working principle of a wheel-blade coaxial amphibious robot according to the present invention;

[0038] Figure 3 It is a cross-sectional view of the wheel-blade coaxial shaft system of the wheel-blade coaxial amphibious robot described in the present invention;

[0039] Figure 4 It is a schematic diagram of the drone mode of the wheel-blade coaxial amphibious robot of the present invention;

[0040] Figure 5 is a schematic diagram of a crouching mode of a wheel-blade coaxial amphibious robot according to the present invention;

[0041] Figure 6 It is a schematic diagram of the second connecting member of the wheel-blade coaxial amphibious robot of the present invention reaching the mechanical limit position;

[0042] Figure 7 It is a schematic diagram of an unmanned vehicle mode of an amphibious robot with coaxial wheels and paddles according to the present invention;

[0043] Figure 8 It is a connection diagram of the electrical control of the wheel-blade coaxial amphibious robot described in the present invention.

[0044] In the figure: 1-fuselage, 2-control module, 3-power module, 4-leg, 5-deformation module, 6-connecting rod, 7-land and air actuator, 101-top plate, 102-rear plate, 103-front plate, 104-side plate, 105-bottom plate, 201-distribution board, 202-onboard computer, 203-flight controller, 204-laser radar, 205-receiver, 301-battery, 302-battery support plate, 401-bracket, 402- Base, 501-motor fixing plate, 502-main motor, 503-first motor connecting piece, 504-auxiliary motor, 505-second motor connecting piece, 601-connecting block, 602-connecting plate, 603-reinforcement rib, 701-sleeve, 702-wheel motor, 703-wheel, 704-paddle motor, 705-paddle, 701-1-sleeve core, 701-2-sleeve cover, 703-1-inner plate, 703-2-outer plate. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0046] Specific implementation method 1: Combination Figure 1-7 The present embodiment is described. The present embodiment is a wheel-blade coaxial amphibious robot, comprising a fuselage 1, a deformation module 5, a connecting rod 6 and a land-air actuator 7. Four deformation modules 5 are evenly arranged on the fuselage 1. The deformation modules 5 are connected to the land-air actuator 7 through the connecting rod 6. The deformation modules 5 are used to control the position change of the land-air actuator 7, thereby realizing the conversion between the land mode and the drone mode.

[0047] The deformation module 5 includes a motor fixing plate 501, a main motor 502, a first motor connecting member 503, an auxiliary motor 504 and a second motor connecting member 505. The main motor 502 is connected to the fuselage 1 through the motor fixing plate 501. The output end of the main motor 502 is connected to the auxiliary motor 504 through the first motor connecting member 503. The pitching action of the auxiliary motor 504 shell is controlled by the main motor 502 to achieve the pitch angle adjustment (pitch position change) of the land-to-air actuator 7. The output end of the auxiliary motor 504 is connected to one end of the connecting rod 6 through the second motor connecting member 505. The auxiliary motor 504 controls the forward and backward action of the connecting rod 6 to achieve the forward and backward angle adjustment (forward and backward position change) of the land-to-air actuator 7. The main motor 502 and the auxiliary motor 504 can be servo motors.

[0048] The land-air actuator 7 includes a sleeve 701, a wheel motor 702, a wheel 703, a blade motor 704 and a blade 705. The wheel motor 702 and the blade motor 704 can be brushless motors. The wheel motor 702 is connected to the other end of the connecting rod 6, and the output end of the wheel motor 702 is connected to the axis of the wheel 703. The wheel motor 702 is hollow. One end of the sleeve 701 is connected to the connecting rod 6, and the other end of the sleeve 701 passes through the hollow structure of the axis of the wheel motor 702 and is connected to the blade motor 704. The output end of the blade motor 704 is connected to the axis of the blade 705, so that the blade 705 and the wheel 703 are coaxially arranged;

[0049] The sleeve 701 includes a sleeve core 701-1 and a sleeve cover 701-2. The sleeve core 701-1 is designed to penetrate the central axis of the wheel motor 702 and is screwed together with the sleeve core 701-1 through an internal thread. The sleeve cover 701-2 is tightly connected to the paddle motor 704 through a fastening screw, thus forming a coaxial design of the wheel paddle. Compared with other gear transmissions and synchronous belt transmissions to drive the wheels, the coaxial design of the wheel brushless motor 702 directly drives the wheel 703, which avoids the error and friction loss caused by the transmission, and avoids the use of bearings to reduce the quality. The channel design at the center of the sleeve 701 also facilitates the line layout of the paddle motor 704, and the fixing method of the base of the paddle motor 704 effectively solves the problem of line winding.

[0050] The wheel 703 includes an inner plate 703-1 and an outer plate 703-2, the inner plate 703-1 includes an inner ring plate and an outer ring plate, the inner ring plate and the outer ring plate are coaxially connected by evenly distributed radial rods, the outer plate 703-2 is annular, the outer plate 703-2 is connected to the outer ring plate of the inner plate 703-1 by evenly arranged axial rods, the sleeve core 701-1 passes through the wheel motor 702 and the central through hole of the inner ring plate in sequence and is connected to the sleeve cover 701-2, and the sleeve cover 701-2 is connected to the outer shell of the blade motor 704; the inner plate 703-1 and the outer plate 703-2 are both made of carbon fiber plates and connected by screws and studs. Compared with conventional wheels, while ensuring structural strength and stiffness, they are lightweight and have an ingenious structural design, so that they can fly smoothly in drone mode;

[0051] The connecting rod 6 includes a connecting block 601, a connecting plate 602 and a reinforcing rib 603. The second motor connecting member 505 is connected to one end of the connecting plate 602 by screws. The connecting plate 602 is fixedly provided with a reinforcing rib 603. Two rows of reinforcing ribs 603 are provided to increase the rigidity of the connecting rod 6. One end of the reinforcing rib 603 is connected to the second motor connecting member 505 by screws, and the other end of the reinforcing rib 603 is connected to the connecting block 601 by bolts. The connecting block 601 is also connected to the connecting plate 602 by bolts. The connecting block 601 is located between the two rows of connecting plates. The other end (terminal end) of the connecting plate 602 is connected to the sleeve 701 and the wheel motor 702 of the land-air actuator 7.

[0052] The fuselage 1 includes a top plate 101, a rear plate 102, a front plate 103, a side plate 104 and a bottom plate 105. The rear plate 102, one side plate 104, the front plate 103 and another side plate 104 are connected end to end in sequence to form an annular shell. The top plate 101 and the bottom plate 105 are respectively arranged on the upper and lower sides of the annular shell. The top plate 101 is connected to the motor fixing plate 501 by bolts. The motor fixing plate 501 can be arranged inside the annular shell or between the side plate and the front plate or the rear plate.

[0053] It also includes legs 4, and two legs 4 symmetrically arranged on the lower side of the bottom plate 105 are installed by bolts; the legs 4 include a bracket 401 and a base 402, the two legs on the upper part of the bracket 401 are bolted to the bottom plate 105, and the three legs on the lower part of the bracket 401 are bolted to the base 402;

[0054] It also includes a control module 2 and a power module 3. The control module 2 is arranged on the bottom plate 105, and the power module 3 is arranged on the lower side of the bottom plate 105. The power module 3 is located between the two legs 4;

[0055] The control module 2 includes a power distribution board 201, an onboard computer 202, a flight controller 203, a laser radar 204 and a receiver 205. The upper side of the bottom plate 105 is connected to the power distribution board 201 through screws and studs, the upper side of the power distribution board 201 is connected to the flight controller 203 through screws and studs, the top plate 101 is connected to the laser radar 204 and the onboard computer 202 through screws, and the top plate 101 is connected to the receiver 205 by bonding;

[0056] The onboard computer 202 is a Jetson Orin NX, the flight controller 203 is a Holybro Pixhawk 6C, and the laser radar 204 is a Livox Mid-360;

[0057] The serial port interface of the onboard computer 202 is connected to the serial port interface of the flight controller 203, the Ethernet interface of the onboard computer 202 is connected to the laser radar 204, the PWM interface of the onboard computer 202 is connected to the main motor 502 and the auxiliary motor 504, the CAN interface of the onboard computer 202 is connected to the wheel motor 702, the serial port interface of the flight controller 203 is connected to the receiver 205, the ground computer communicates with the receiver 205 through UDP, and communicates with the onboard computer 202 through Wi-Fi;

[0058] The power module 3 includes a battery 301 and a battery support plate 302, the bottom plate 105 is connected to the battery support plate 302 by screws and studs, and the battery support plate 302 and the battery 301 are fixed by straps;

[0059] The battery 301 is a lithium battery 6S, 4000mAh, which is used to power the onboard computer 202, the flight controller 203, the receiver 205, the laser radar 204, the main motor 502, the auxiliary motor 504, the wheel motor 702, and the blade motor 704;

[0060] The present invention solves the limitations of existing unmanned vehicles and drones: unmanned vehicles only need to overcome friction when driving but have difficulty in crossing obstacles, while drones need to overcome gravity when flying but can easily fly over obstacles; the present invention integrates motors and corresponding structural parts on the four legs of the unmanned vehicle, so that the unmanned vehicle and the drone can be freely converted to each other, and at the same time, the height of the unmanned vehicle can be lowered by using this structure to pass through height-restricted obstacles; the coaxial design of the wheels and blades can avoid errors caused by using other transmission methods to drive the wheels, and precise control can be achieved in one step; combining the advantages of ground unmanned vehicles and multi-rotor drones can not only give full play to the excellent performance of unmanned vehicles in energy efficiency, but also have the outstanding characteristics of drones in obstacle avoidance and maneuverability, which is innovative and of practical value.

[0061] Specific implementation method 2: Combination Figure 1-8 The present embodiment is described. The method for using a wheel-blade coaxial amphibious robot of the present embodiment adopts the wheel-blade coaxial amphibious robot (referred to as the robot), comprising a fuselage 1, a control module 2, a power module 3, legs 4, a deformation module 5, a connecting rod 6, and a land-air actuator 7; the center of the fuselage 1 is provided with the control module 2, the power module 3, and the legs 4 in sequence from top to bottom; the four corners of the fuselage 1 are respectively provided with a deformation module 5, the output end of each deformation module 5 is connected to the connecting rod 6 by a screw, the connecting rod 6 is connected to the land-air actuator 7 by a screw, and the power module 3 is used to supply power to the control module 2, the deformation module 5, and the land-air actuator 7;

[0062] The fuselage 1 includes a top plate 101, a rear plate 102, a front plate 103, a side plate 104 and a bottom plate 105. The bottom plate 105 is provided with the control module 2. The control module 2 includes a distribution board 201, an onboard computer 202, a flight controller 203, a laser radar 204 and a receiver 205. The top of the bottom plate 105 is connected to the distribution board 201 through screws and studs. The top of the distribution board 201 is connected to the flight controller 203 through screws and studs. The top plate 101 is connected to the laser radar 204 and the onboard computer 202 through screws, and is connected to the receiver 205 through bonding.

[0063] The deformation module 5 includes a motor fixing plate 501, a main motor 502, a first motor connecting member 503, an auxiliary motor 504 and a second motor connecting member 505. The bottom plate 105 and the top plate 101 are connected to the motor fixing plate 501 by bolts, the motor fixing plate 501 is connected to the main motor 502 by screws, the output end of the main motor 502 is connected to the first motor connecting member 503 by screws, the first motor connecting member 503 is connected to the auxiliary motor 504 by screws, and the output end of the auxiliary motor 504 is connected to the second motor connecting member 505 by screws; the second motor connecting member 505 is connected to the connecting rod 6;

[0064] The connecting rod 6 includes a connecting block 601, a connecting plate 602 and a reinforcing rib 603. The second motor connecting member 505 is connected to the connecting plate 602 by screws. Two reinforcing ribs 603 are provided to increase the rigidity of the connecting rod 6. One side of the reinforcing rib 603 is connected to the second motor connecting member 505 by screws, and the other side is connected to the connecting block 602 by bolts. The connecting block 601 is also connected to the connecting plate 602 by bolts, and the end of the connecting plate 602 is connected to the land-air actuator 7.

[0065] The land-air actuator 7 includes a wheel motor 702, a wheel 703, a sleeve 701, a blade motor 704, and a blade 705. The end of the connecting plate 602 is connected to the wheel motor 702 by screws, and the output end of the wheel motor 702 is connected to the wheel 703 by screws. One end of the sleeve 701 is connected to the connecting plate 602 by bolts and passes through the wheel motor 702. The wheel motor 702 is hollow. The other end of the sleeve 701 is connected to the blade brushless motor 704, and the blade brushless motor 704 is fixed to the blade 705 by nuts.

[0066] The power module 3 includes a battery 301 and a battery support plate 302, the bottom plate 105 is connected to the battery support plate 302 by screws and studs, and the battery support plate 302 and the battery 301 are fixed by a strap;

[0067] The support leg 4 includes a bracket 401 and a base 402, wherein the bracket 401 is connected to the bottom plate 402 by interference fit, and the bracket 401 is connected to the base 402 by interference fit;

[0068] Each of the deformation modules 5 has a main motor 502 and an auxiliary motor 504 for lateral and forward and backward movement; when the output ends of the main motor 502 and the auxiliary motor 504 move to the specified positions respectively, the deformation module 5 can be changed to the UAV and unmanned vehicle modes, and there is also a crouching mode to lower the height to pass through height-restricted obstacles;

[0069] The sleeve 701 includes a sleeve core 701-1 and a sleeve cover 701-2, wherein the sleeve core 701-1 is designed to penetrate the central axis of the wheel brushless motor 702 and realize a screw connection with the sleeve cover 701-1 through an internal thread, and the sleeve cover 701-2 is tightly connected to the blade brushless motor 704 through a fastening screw, thus forming a coaxial design of the wheel blade; compared with other gear transmissions and synchronous belt transmissions to drive the wheels, the coaxial design of the wheel brushless motor 702 directly driving the wheel 703 avoids the error and friction loss caused by the transmission, and avoids the use of bearings to reduce the quality; the channel design at the center of the sleeve 701 also facilitates the line layout of the blade brushless motor 704, and the fixing method of the base of the blade brushless motor 704 effectively solves the problem of line winding;

[0070] The output end of the main motor 502 drives the first motor connector 503, and is provided with two mechanical limits for limiting the range of motion of the main motor 502, and the two mechanical limit positions are the working locking positions of the main motor 502; wherein the lower mechanical limit position is formed by the motor fixing plate 501 structure, that is, the position of the main motor 502 in the unmanned vehicle form, and the upper mechanical limit position is formed by the top plate 101 structure, that is, the position of the main motor 502 in the unmanned vehicle form; at the same time, the output end of the auxiliary motor 504 drives the second motor component, and is provided with a mechanical limit for preventing the output end of the auxiliary motor 504 from moving beyond the working range and causing interference;

[0071] The main motor 502 uses feetech SM8524BL-C001, and the auxiliary motor 504 uses feetech SM-45BL-C001. The positions of the main motor 502 and the auxiliary motor 504 need to meet the degree of freedom required for the robot configuration transformation, that is, the output shaft of the main motor 502 is consistent with the normal direction of the front plate 103, and the output shaft of the auxiliary motor 504 is consistent with the normal direction of the side plate 104;

[0072] The wheel 703 includes an inner plate 703-1 and an outer plate 703-2, wherein the inner plate 703-1 and the outer plate 703-2 are made of carbon fiber plates and connected by screws and studs. Compared with conventional wheels, the inner plate 703-1 and the outer plate 703-2 are lightweight while ensuring structural strength and rigidity, so that the vehicle can fly smoothly in the drone mode.

[0073] The onboard computer 202 is a Jetson Orin NX, the flight controller 203 is a Holybro Pixhawk 6C, and the laser radar 204 is a Livox Mid-360.

[0074] The serial port interface of the onboard computer 202 is connected to the serial port interface of the flight controller 203, the Ethernet interface of the onboard computer 202 is connected to the laser radar 204, the PWM interface of the onboard computer 202 is connected to the main motor 502 and the auxiliary motor 504, the CAN interface of the onboard computer 202 is connected to the wheel brushless motor 702, the serial port interface of the flight controller 203 is connected to the receiver 205, the ground computer communicates with the receiver 205 via UDP, and communicates with the onboard computer 202 via Wi-Fi;

[0075] The battery 301 uses a lithium battery 6S, 4000mAh, to realize the onboard computer 202, the flight controller 203, the receiver 205, the laser radar 204, the main motor 502, the auxiliary motor 504, the wheel brushless motor 702, and the blade brushless motor 704;

[0076] like Figure 4-8 As shown, the method comprises the following steps:

[0077] Unmanned vehicle initialization:

[0078] After the robot is powered on, the program in the onboard computer 202 is started, all motors are locked, and after the receiver 205 is successfully linked with the remote controller, the initialization is completed, and after initialization, the robot is in the unmanned vehicle mode;

[0079] Unmanned vehicle mode:

[0080] The robot is in unmanned vehicle mode in a flat environment. The wheel motor 702 directly drives the wheel 703 to rotate, and the robot can move forward and backward. The robot is controlled to complete the turning movement through the four-wheel differential drive mode, and the PID control is used to make each wheel motor 702 reach its own desired speed;

[0081] Crouch Mode:

[0082] When encountering a height-limited obstacle, the robot needs to enter a crouching mode; the remote controller sends a configuration change command to the receiver 205, the onboard computer executes the corresponding program, the output ends of the auxiliary motors 504 rotate 45 degrees each to reach the expected position, the height of the robot is reduced, and it is in a crouching state to pass the obstacle; when the robot is in a crouching mode, it can be switched to an unmanned vehicle mode or a drone mode at will;

[0083] Drone Mode:

[0084] When the environment is rugged and there are too many obstacles, when the robot is in crouching mode, the output end of the main motor 502 remains locked, and the output end of the auxiliary motor 504 continues to rotate 45 degrees respectively. During this process, the wheels gradually leave the ground and no longer bear the load, and the base 402 gradually contacts the ground to bear the load. Finally, the second motor connector 505 reaches the mechanical limit position, such as Figure 6 As shown; then the output end of the main motor 502 rotates 90 degrees, and the output end of the auxiliary motor 504 rotates 62 degrees in the opposite direction, and the two rotate at the same time to avoid interference between parts. At this time, the base 402 of the robot contacts the ground and bears all the load. The robot enters the drone mode to fly over obstacles; the unmanned vehicle mode, crouching mode, and drone mode can be converted between adjacent modes.

[0085] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be arranged and combined, and those skilled in the art can exhaust all possibilities based on the mathematical knowledge of arrangement and combination. Therefore, the present invention will no longer describe the technical solutions after arrangement and combination one by one, but it should be understood that the technical solutions after arrangement and combination have been disclosed by the present invention.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wheel-blade coaxial amphibious robot, characterized in that: The invention comprises a fuselage (1), a deformation module (5), a connecting rod (6) and a land-air actuator (7). The deformation modules (5) are evenly arranged on the fuselage (1). The deformation modules (5) are connected to the land-air actuator (7) through the connecting rod (6). The deformation modules (5) are used to control the position change of the land-air actuator (7), thereby realizing the conversion between the land mode and the unmanned aerial vehicle mode.

2. The wheel-blade coaxial amphibious robot according to claim 1, characterized in that: The deformation module (5) comprises a motor fixing plate (501), a main motor (502), a first motor connecting member (503), an auxiliary motor (504) and a second motor connecting member (505); the main motor (502) is connected to the body (1) via the motor fixing plate (501); the output end of the main motor (502) is connected to the auxiliary motor (504) via the first motor connecting member (503); and the output end of the auxiliary motor (504) is connected to one end of the connecting rod (6) via the second motor connecting member (505).

3. The wheel-blade coaxial amphibious robot according to claim 2, characterized in that: The land-air actuator (7) comprises a sleeve (701), a wheel motor (702), a wheel (703), a blade motor (704) and a blade (705), wherein the wheel motor (702) is connected to the other end of the connecting rod (6), and the output end of the wheel motor (702) is connected to the wheel (703). The wheel motor (702) is hollow, and one end of the sleeve (701) is connected to the connecting rod (6), and the other end of the sleeve (701) passes through the wheel motor (702) and is connected to the blade motor (704), and the output end of the blade motor (704) is connected to the blade (705).

4. The wheel-blade coaxial amphibious robot according to claim 3, characterized in that: The sleeve (701) comprises a sleeve core (701-1) and a sleeve cover (701-2), wherein the sleeve core (701-1) passes through the central axis of the wheel motor (702) and is connected to the sleeve core (701-1) via a thread, and the sleeve cover (701-2) is connected to the paddle motor (704); The wheel (703) comprises an inner plate (703-1) and an outer plate (703-2), the inner plate (703-1) comprises an inner ring plate and an outer ring plate, the inner ring plate and the outer ring plate are coaxially connected via evenly distributed radial rods, the outer plate (703-2) is annular, the outer plate (703-2) and the outer ring plate of the inner plate (703-1) are connected via evenly arranged axial rods, the sleeve core (701-1) sequentially passes through the wheel motor (702), the central through hole of the inner ring plate and is connected to the sleeve cover (701-2), and the sleeve cover (701-2) is connected to the outer shell of the paddle motor (704).

5. The wheel-blade coaxial amphibious robot according to claim 3, characterized in that: The connecting rod (6) comprises a connecting block (601), a connecting plate (602) and a reinforcing rib (603); the second motor connecting member (505) is connected to one end of the connecting plate (602); a reinforcing rib (603) is provided on the connecting plate (602); one end of the reinforcing rib (603) is connected to the second motor connecting member (505); the other end of the reinforcing rib (603) is connected to the connecting block (601); the connecting block (601) is connected to the connecting plate (602); the other end of the connecting plate (602) is connected to the sleeve (701) and the wheel motor (702) of the land-air actuator (7).

6. The wheel-blade coaxial amphibious robot according to claim 2 or 5, characterized in that: The fuselage (1) comprises a top plate (101), a rear plate (102), a front plate (103), a side plate (104) and a bottom plate (105); the rear plate (102), one side plate (104), the front plate (103) and another side plate (104) are connected end to end in sequence to form an annular shell; the top plate (101) and the bottom plate (105) are respectively arranged on the upper and lower sides of the annular shell; the top plate (101) is connected to the motor fixing plate (501).

7. The wheel-blade coaxial amphibious robot according to claim 6, characterized in that: The device also includes a support leg (4), which is installed on the lower side of the base plate (105); the support leg (4) includes a bracket (401) and a base (402), the upper part of the bracket (401) is connected to the base plate (105), and the lower part of the bracket (401) is connected to the base (402).

8. The wheel-blade coaxial amphibious robot according to claim 7, characterized in that: It also includes a control module (2) and a power module (3), and the power module (3) is arranged on the bottom plate (105).

9. The wheel-blade coaxial amphibious robot according to claim 8, characterized in that: The control module (2) comprises a power distribution board (201), an onboard computer (202), a flight controller (203), a laser radar (204) and a receiver (205); the upper side of the bottom plate (105) is connected to the power distribution board (201); the upper side of the power distribution board (201) is connected to the flight controller (203); the top plate (101) is connected to the laser radar (204) and the onboard computer (202); and the top plate (101) is connected to the receiver (205); The onboard computer (202) is a Jetson OrinNX, the flight controller (203) is a Holybro Pixhawk 6C, and the laser radar (204) is a Livox Mid-360; The serial port interface of the onboard computer (202) is connected to the serial port interface of the flight controller (203), the Ethernet interface of the onboard computer (202) is connected to the laser radar (204), the PWM interface of the onboard computer (202) is connected to the main motor (502) and the auxiliary motor (504), the CAN interface of the onboard computer (202) is connected to the wheel motor (702), the serial port interface of the flight controller (203) is connected to the receiver (205), the ground computer communicates with the receiver (205) via UDP, and communicates with the onboard computer (202) via Wi-Fi; The power module (3) comprises a battery (301) and a battery support plate (302), the bottom plate (105) is connected to the battery support plate (302), and the battery support plate (302) is fixed to the battery (301); The battery (301) is a lithium battery 6S, 4000mAh, which is used to supply power to the onboard computer (202), the flight controller (203), the receiver (205), the laser radar (204), the main motor (502), the auxiliary motor (504), the wheel motor (702), and the blade motor (704).

10. A method for using a wheel-blade coaxial amphibious robot, characterized in that: The wheel-blade coaxial amphibious robot according to claim 9 comprises the following steps: Unmanned vehicle initialization: After the robot is powered on, the program in the onboard computer (202) is started, all motors are locked, and after the receiver (205) is successfully frequency-matched with the remote controller, initialization is completed, and after initialization, the robot is in unmanned vehicle mode; Unmanned vehicle mode: The robot is in unmanned vehicle mode in a flat environment, and the wheel motor (702) directly drives the wheel (703) to rotate, so that the robot can move forward and backward. The robot can be controlled to complete the turning movement by a four-wheel differential drive mode, and each wheel motor (702) can reach its desired speed by using PID control; Crouch Mode: When encountering a height-limited obstacle, the robot needs to enter a crouching mode; the remote controller sends a configuration change command to the receiver (205), the onboard computer executes the corresponding program, the output ends of the auxiliary motors (504) rotate 45 degrees respectively to reach the expected position, the height of the robot is reduced, and it is in a crouching state to pass the obstacle; when the robot is in the crouching mode, it can be switched to the unmanned vehicle mode or the unmanned aerial vehicle mode at will; Drone Mode: When the environment is rugged and there are too many obstacles, when the robot is in crouching mode, the output end of the main motor (502) remains locked, and the output end of the auxiliary motor (504) continues to rotate 45 degrees each. During this process, the wheels gradually leave the ground and no longer bear the load, and the base (402) contacts the ground to bear the load, and finally the second motor connector (505) reaches the mechanical limit position; then the output end of the main motor (502) rotates 90 degrees, and the output end of the auxiliary motor (504) rotates 62 degrees in the opposite direction, and both rotate at the same time to avoid interference between parts. At this time, the base (402) of the robot contacts the ground and bears all the load, and the robot enters the drone mode to fly over obstacles; the unmanned vehicle mode, crouching mode, and drone mode can be converted between adjacent modes.

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