Air-ground amphibious robot

Abstract

The invention provides an air-ground amphibious robot which comprises a main machine frame. The flight assembly is arranged above the main rack and comprises a plurality of rotor assemblies; the land walking assembly is arranged below the main machine frame and comprises a pair of driving assemblies, and each driving assembly comprises a land walking device used for enabling the land-air amphibious robot to advance on the ground, a connecting rod assembly used for adjusting the distance between the land walking device and the main machine frame and a driving motor used for driving the connecting rod assembly to move. The connecting rod assembly comprises an upper connecting rod, a lower connecting rod and a joint part located between the upper connecting rod and the lower connecting rod, the joint part comprises an angle sensor used for obtaining angle information between the upper connecting rod and the lower connecting rod, and the air-ground amphibious robot is configured to switch motion modes according to the obtained angle information. The connecting rod assembly and the flight assembly have the synergistic effect, and the take-off process is easier and saves energy.

Description

Technical Field

[0001] The invention relates to a land and air amphibious robot. Background Art

[0002] Multi-rotor drones have been widely used due to their fast vertical take-off capability and flexible aerial flight capabilities. However, multi-rotor drones have problems such as high energy consumption, short flight time and high noise, making it difficult for them to complete tasks that require long endurance and high confidentiality. At the same time, when drones are required to move over a large range to a small space to perform specific tasks, due to space limitations, multi-rotor drones cannot fly and thus cannot complete the specified tasks. Therefore, air-land amphibious robots that combine multi-rotor drones and mobile robots have begun to receive more and more research and application.

[0003] Specifically, documents such as CN115284804A, CN116353264A, CN117533067A, and CN221794921U all show air-land amphibious robots that combine a multi-rotor drone and a mobile robot. These air-land amphibious robots have a flight mode and a land mode. However, the flight mode and land mode of the current air-land amphibious robots are set as independent modes, and the conversion process is completed by manual operation. There is usually no linkage between the two modes and no linkage can be formed. On the one hand, it causes cumbersome operation, and on the other hand, it is impossible to simultaneously utilize the flight and land mechanisms to form a synergistic effect. Therefore, a new technical solution is needed to solve the above technical problems. Summary of the invention

[0004] To this end, the present invention provides a land-air amphibious robot to solve the above-mentioned technical problems.

[0005] A land and air amphibious robot, comprising: Main frame; A flight assembly is arranged above the main frame and includes a plurality of rotor assemblies; The land-based component is arranged below the main frame and includes a pair of driving components, each driving component includes a land-based device for enabling the land-air amphibious robot to move on the ground, a connecting rod component for adjusting the distance between the land-based device and the main frame, and a driving motor for driving the connecting rod component to move, the connecting rod component includes an upper connecting rod, a lower connecting rod and a joint portion located between the upper connecting rod and the lower connecting rod, the joint portion includes an angle sensor for obtaining angle information between the upper connecting rod and the lower connecting rod, and the land-air amphibious robot is configured to switch the motion mode according to the obtained angle information.

[0006] Among them, the movement modes include flight mode and land mode, the switching movement mode is switching from flight mode to land mode or from land mode to flight mode, the angle sensor is a friction electric sensor, the angle sensor includes a sleeve shell and a sensor array, the sensor array includes a substrate and a plurality of sensor groups, the plurality of sensor groups are arranged equidistantly on the outer side of the substrate along its circumference, each sensor group includes a first patch and a second patch, the first patch and the second patch are arranged at intervals, and at the same time, the length ratio of the first patch to the second patch in each sensor group in the sensor array is different.

[0007] Among them, the angle sensor also includes a slide fixed on the shell, and the slide includes a first electrode and a second electrode. When the shell rotates, the first electrode can abut against the first patch, and the second electrode can abut against the second patch. The first electrode and the second electrode are both strip-shaped and protrude from the slide toward the sensor array.

[0008] The lengths of the first patches in the plurality of sensor groups are in an arithmetic progression and increase sequentially, while the lengths of the second patches in the plurality of sensor groups are in an arithmetic progression and decrease sequentially.

[0009] Wherein, the air-land amphibious robot is configured such that when the angle gradually increases and is greater than a first threshold, the air-land amphibious robot switches from a walking mode to a flying mode.

[0010] Wherein, the land-air amphibious robot is also configured to switch from the flight mode to the land mode when the angle gradually decreases and is less than a second threshold value.

[0011] Among them, the land-air amphibious robot is also configured that before switching from the land mode to the flight mode, the connecting rod assembly adjusts the distance between the main frame and the land device and makes the angle between the upper connecting rod and the lower connecting rod reach the second threshold.

[0012] Among them, the land-air amphibious robot is also configured that before switching from the flight mode to the land mode, the connecting rod assembly adjusts the distance between the main frame and the land device and makes the angle between the upper connecting rod and the lower connecting rod reach the first threshold.

[0013] Among them, the rotor assembly includes a flight motor, the land-based device includes a land-based motor, and after the land-to-air amphibious robot switches from a land-based mode to a flight mode, the land-based motor stops running, and after the land-to-air amphibious robot switches from a flight mode to a land-based mode, the flight motor stops running.

[0014] Among them, the land-air amphibious robot also includes a supporting assembly, the supporting assembly includes a pair of supporting devices, the supporting device includes a leg extending obliquely downward from the driving assembly, the leg includes a fixed end, and the fixed end is fixed on the driving motor.

[0015] Beneficial effect: An embodiment of the present invention provides a land-air amphibious robot, comprising: a main frame; a flight component, arranged above the main frame, comprising a plurality of rotor components; a land running component, arranged below the main frame, comprising a pair of drive components, each drive component comprising a land running device for enabling the land-air amphibious robot to move on the ground, a connecting rod component for adjusting the distance between the land running device and the main frame, and a drive motor for driving the connecting rod component to move, the connecting rod assembly comprising an upper connecting rod, a lower connecting rod and a joint portion between the upper connecting rod and the lower connecting rod, the joint portion comprising an angle sensor for obtaining angle information between the upper connecting rod and the lower connecting rod, and the land-air amphibious robot is configured to switch the motion mode according to the obtained angle information, through the above-mentioned arrangement, the connecting rod assembly and the flight component exhibit a synergistic effect, making the take-off process easier and more energy-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional schematic diagram of a land-air amphibious robot according to an embodiment of the present invention; Figure 2 for Figure 1 Middle main view; Figure 3 for Figure 1 center right view; Figure 4 is a schematic diagram of an angle sensor; Figure 5 It is a schematic diagram of the sensor array and the slide structure; Figure 6 for Figure 5 Enlarged schematic diagram of area A in the middle.

[0017] Flight assembly 10; main frame 100; flight motor 11; blades 12; land assembly 20; connecting rod assembly 200; left drive assembly 201; right drive assembly 202; side bracket 21; first drive motor 211; second drive motor 212; first upper connecting rod 22; first lower connecting rod 23; second upper connecting rod 24; second lower connecting rod 25; land device 26; land motor 261; land wheel 262; support device 27; support leg 271; auxiliary wheel 272; joint 28; angle sensor 280; housing 281; sensor array 282; sensor group 2820; first patch 2821; second patch 2822; slide 283; first electrode 2831; second electrode 2832. DETAILED DESCRIPTION

[0018] Please refer to the attached Figure 1-3 An embodiment of the present invention provides a land-air amphibious robot, which may include a flight mode and a walking mode, wherein the flight mode refers to the posture of the land-air amphibious robot remaining in the air, more specifically, the flight mode may be presented as a state of hovering in the air or flying in the air, and the walking mode refers to the posture of the land-air amphibious robot being on the ground, specifically, it may be presented as a state of maintaining a predetermined position on the ground or moving on the ground, the land-air amphibious robot includes a main frame 100 and a flight component 10 and a walking component 20 arranged on the main frame 100.

[0019] The flight component 10 is arranged above the main frame 100 and includes multiple rotor components, which are used to enable the land-air amphibious robot to be in flight mode. More specifically, the flight component 10 can keep the land-air amphibious robot in the air, such as forming a hovering state, a vertical flight state or a horizontal flight state. Of course, the land-air amphibious robot can also be in other flight states, such as oblique or spiral flight states, which will not be repeated here.

[0020] In this embodiment, there are four rotor assemblies, forming a four-rotor configuration. It can be understood that the rotor assemblies are not limited to four, and other suitable numbers, such as six, eight, etc., are also feasible. Each rotor assembly includes a flight motor 11 and a blade 12 connected to the flight motor 11.

[0021] It can be understood that the flight component 10 may also include a battery and a control system, and the control system may include an electric regulator and a control chip, etc., which will not be elaborated here.

[0022] The land running component 20 is arranged below the main frame 100, and includes a pair of driving components. Specifically, the pair of driving components includes a left driving component 201 located on the left side and a right driving component 202 located on the right side, wherein the left driving component 201 and the right driving component 202 have the same structure and are symmetrically arranged. In the following description, the left driving component 201 is described in detail, and the right driving component 202 is not repeated.

[0023] In this embodiment, the left driving assembly 201 includes a land-based device 26 for enabling the amphibious robot to move on the ground, a connecting rod assembly 200 for adjusting the relative position between the main frame 100 and the land-based device 26, and a driving motor for driving the connecting rod assembly 200 to move.

[0024] The land running device 26 includes a land running wheel 262 and a land running motor 261 for driving the land running wheel 262 to rotate. In addition, in this embodiment, the land running motor 261 is coaxially arranged with the land running wheel 262 so as to directly drive the land running wheel 262 to move.

[0025] Furthermore, the main frame 100 is in the shape of a plate, and a pair of side brackets 21 are provided on both sides of the main frame 100. The side brackets 21 extend vertically downward from both sides of the main frame 100, so that the main frame 100 and the side brackets 21 form an inverted U-shape and surround a hollow space. The left drive assembly 201 and the right drive assembly 202 are respectively fixed on the pair of side brackets 21. At the same time, a functional unit is provided in the hollow space. The functional unit may include an image acquisition unit, a control unit, etc., which will not be described in detail here.

[0026] The connecting rod assembly 200 includes an upper connecting rod, a lower connecting rod and a joint portion 28 located between the upper connecting rod and the lower connecting rod. One end of the connecting rod assembly 200 is fixed on the driving motor, and the other end is pivotally connected to the land running device 26. In this embodiment, there is a pair of connecting rod assemblies 200, and there is also a pair of driving motors, which are respectively connected to a pair of connecting rod assemblies 200. The ends of the pair of connecting rod assemblies 200 are both pivotally connected to the land running device 26. At the same time, a pair of driving motors are fixedly set on the side bracket 21, so that the side bracket 21 and the pair of connecting rod assemblies 200 form a five-link structure.

[0027] In this embodiment, a pair of connecting rod assemblies 200 have the same structure, wherein the connecting rod assembly located on the left side includes a first upper connecting rod 22 and a first lower connecting rod 23, and the connecting rod assembly located on the right side includes a second upper connecting rod 24 and a second lower connecting rod 25, and the driving motor includes a first driving motor 211 and a second driving motor 212, the first upper connecting rod 22 is connected to the first driving motor 211, and is configured to rotate under the drive of the first driving motor 211, and the second upper connecting rod 24 is connected to the second driving motor 212, and is configured to rotate under the drive of the second driving motor 212, and at the same time, the first driving motor 211 and the second driving motor 212 should be configured so that the two can be driven independently or in linkage with each other.

[0028] It can be understood that the relative position between the main frame 100 and the land running device 26 is changed by driving the first driving motor 211 and the second driving motor 212. Figure 2In the position shown, when the first drive motor 211 rotates counterclockwise and the second drive motor 212 rotates clockwise, and the rotation rates of the first drive motor 211 and the second drive motor 212 are equal, the angle between the first upper link 22 and the first lower link 23 increases, and the distance of the main frame 100 relative to the land running device 26 increases. More specifically, when the land running device 26 is on the ground, the main frame 100 moves upward. When the first drive motor 211 rotates clockwise and the second drive motor 212 rotates counterclockwise, and the rotation rates of the first drive motor 211 and the second drive motor 212 are equal, the angle between the first upper link 22 and the first lower link 23 decreases, and the distance of the main frame 100 relative to the land running device 26 decreases. More specifically, when the land running device 26 is on the ground, the main frame 100 moves downward.

[0029] The joint part 28 is arranged between the first upper link 22 and the first lower link 23 and / or the second upper link 24 and the second lower link 25, and is used to obtain the angle information of the first upper link 22 and the first lower link 23, and the second upper link 24 and the second lower link 25. More specifically, the joint part 28 includes an angle sensor 280, and the land-air amphibious robot is configured to switch the motion mode according to the obtained angle information.

[0030] Please refer to Figures 4 to 6 ,exist Figures 4 to 6 The structure of the angle sensor 280 is shown in the figure. The angle sensor 280 is a triboelectric sensor. The triboelectric sensor (TENG) is a sensor based on the triboelectric effect. The triboelectric effect refers to the static charge generated at the interface when two different materials come into contact and separate due to the difference in the electronegativity of the materials. When these materials move relative to each other, the charge is transferred to the electrode, thereby generating an electrical signal. The triboelectric sensor generates charge transfer by rubbing electrode layers made of different materials against each other, thereby realizing detection of displacement, pressure, rotation, etc.

[0031] The angle sensor 280 includes a sleeved shell 281 and a sensor array 282, wherein the shell 281 is in a tubular shape and includes a cylindrical accommodating space, and the sensor array 282 is arranged in the accommodating space and coaxially arranged with the accommodating space. At the same time, the shell is fixedly connected to the first lower connecting rod 23, and the sensor array 282 is fixedly connected to the first upper connecting rod 22. When the first lower connecting rod 23 and the first upper connecting rod 22 rotate relative to each other, the shell and the sensor array 282 rotate relative to each other synchronously.

[0032] Specifically, the sensor array 282 includes a substrate and a plurality of sensor groups 2820, the plurality of sensor groups 2820 are arranged equidistantly along the circumference of the outer side of the substrate, each sensor group 2820 includes a first patch 2821 and a second patch 2822 as negative electrode materials in the triboelectric effect, the first patch 2821 and the second patch 2822 are arranged at intervals, and at the same time, the length ratio of the first patch 2821 to the second patch 2822 in each sensor group 2820 in the sensor array 282 is different. When the first patch 2821 and the second patch 2822 are triboelectrically electrified, the voltage ratio formed by the first patch 2821 and the second patch 2822 is different, so that the voltage ratio of each sensor group 2820 is unique. At the same time, the angle sensor 280 also includes a slide 283 fixed on the shell 281, and the slide 283 includes a pair of positive contacts in contact with the first patch 2821 and the second patch 2822. When the shell and the sensor array 282 rotate relative to each other, a frictional electric effect is formed between the positive contact and the pair of positive contacts.

[0033] Furthermore, the slide 283 includes a first electrode 2831 and a second electrode 2832. The first electrode 2831 abuts against the first patch 2821, and the second electrode 2832 abuts against the second patch 2822. The first electrode 2831 and the second electrode 2832 are both strip-shaped and protrude from the slide 283 toward the sensor array 282.

[0034] Furthermore, the lengths of the first patches 2821 in several sensor groups 2820 are in an arithmetic progression and increase sequentially. At the same time, the lengths of the second patches 2822 in several sensor groups 2820 are in an arithmetic progression and increase and decrease sequentially. In a specific embodiment, the lengths of the first patches 2821 are 1 mm, 2 mm, 3 mm...16 mm, and the lengths of the second patches 2822 are 16 mm, 15 mm, 14 mm...1 mm, so that the voltage ratios in each sensor group 2820 are 1 / 16, 2 / 15, 3 / 14...16 / 1, respectively. By detecting the voltage ratio, the specific position of the slider 283 in the sensor array 282 can be obtained, thereby determining the angle between the sensor array 282 and the shell.

[0035] Furthermore, in order to enhance the triboelectric effect, the surfaces of the first patch 2821 and the second patch 2822 include etched microtextures to increase the contact area and thus improve the charge separation effect.

[0036] Furthermore, an elastic bracket may be included between the first electrode 2831 , the second electrode 2832 and the sliding sheet 283 , and the first electrode 2831 and the second electrode 2832 may better maintain stable contact during the sliding process and sense the charge transfer signal under the elastic force of the elastic bracket.

[0037] Furthermore, the first patch 2821 and the second patch 2822 are both polytetrafluoroethylene sheets, and the first electrode 2831 and the second electrode 2832 are both copper electrodes.

[0038] Furthermore, polyimide film is attached to the surface of the first patch 2821 and the second patch 2822 to ensure the durability and resistance to environmental interference of the sensor, and to protect sensitive materials from moisture and pollutants. It can be understood that the polyimide film can be attached by heat pressing or UV curing process.

[0039] The land-air amphibious robot is configured to switch the motion mode through the acquired angle information. Specifically, when the angle gradually increases and is greater than the first threshold, the land-air amphibious robot switches from the land mode to the flight mode. It can be understood that when the angle gradually increases, the distance between the main frame 100 and the land device 26 gradually increases. At this time, the fuselage will have an inertia of upward movement. When the angle is greater than the first threshold, if the land mode is switched to the flight mode, that is, combined with the rotation of the blades 12 at the same time, the land-air amphibious robot can move vertically faster, thereby accelerating the take-off process of the land-air amphibious robot and reducing the energy consumption of vertical flight. That is, in this process, the connecting rod assembly 200 and the flight assembly 10 present a synergistic effect, making the take-off process easier and energy-saving. In addition, it can be seen that when the land-air amphibious robot switches from the land mode to the flight mode, the specific state of the land mode is not limited, that is, when the land mode is stopped in place or the land-air amphibious robot is driven by the land device 26 to move on the ground, the land mode can be switched to the flight mode when the angle is greater than the first threshold.

[0040] It can be understood that the gradually increasing angle means that the angle at the later time point is greater than the angle at the earlier time point.

[0041] It can be understood that when the angle is greater than the first threshold, the flight motor 11 drives the blades 12 to rotate, thereby completing the mode switch. After switching from the land mode to the flight mode, the land device 26 should stop moving, more specifically, the land motor 261 stops moving.

[0042] Furthermore, the first threshold should be greater than or equal to 60°, and more preferably, the first threshold is 70° to 80°.

[0043] In addition, it can be seen that by setting an angle sensor 280 between the first upper link 22 and the first lower link 23 to obtain angle information, the posture of the fuselage in the vertical direction can be judged, so there is no need to obtain vertical acceleration information to complete mode switching.

[0044] Furthermore, the land-air amphibious robot is also configured such that when the angle gradually decreases and becomes less than a second threshold value, the land-air amphibious robot switches from the flight mode to the land mode. During this process, which is usually the landing process of the land-air amphibious robot, after switching to the land mode, the flight motor 11 should stop running.

[0045] It can be understood that, through the above process, the connecting rod assembly 200 can form a buffer to reduce the impact of the amphibious robot during the landing process.

[0046] Furthermore, before switching from the land mode to the flight mode, the connecting rod assembly 200 adjusts the distance between the main frame 100 and the land device 26, and makes the angle between the first upper connecting rod 22 and the first lower connecting rod 23 a second threshold value, so that when the land mode is switched to the flight mode, there is enough adjustment space between the first upper connecting rod 22 and the first lower connecting rod 23.

[0047] Furthermore, before switching from the flight mode to the land mode, the connecting rod assembly 200 adjusts the distance between the main frame 100 and the land device 26, and makes the angle between the first upper connecting rod 22 and the first lower connecting rod 23 a first threshold value, so that when the flight mode is switched to the land mode, there is enough adjustment space between the first upper connecting rod 22 and the first lower connecting rod 23.

[0048] Furthermore, the second threshold should be less than or equal to 30°, and more preferably, the second threshold is 10° to 20°.

[0049] Furthermore, the land-air amphibious robot also includes a support assembly, which is configured to support the land-air amphibious robot together with the running device 26 to maintain a stable state when the land-air amphibious robot stops flying or moving. The support assembly includes a pair of support devices 27, and the support device 27 includes a support leg 271 extending obliquely downward from a self-driving assembly, and the legs 271 of the pair of support devices 27 extend in the opposite direction. Specifically, when one of the legs 271 extends to the lower left, the other leg 271 extends to the lower right. At the same time, the pair of legs 271 and a pair of running wheels 262 form support for the land-air amphibious robot.

[0050] Furthermore, the support device 27 also includes an auxiliary wheel 272 arranged at the end of the support leg 271, which can provide a cushion for the landing of the land-air amphibious robot on the one hand, and provide assistance for the movement of the land-air amphibious robot on land on the other hand.

[0051] Furthermore, the leg 271 includes a fixed end, and the fixed end is fixed to the drive motor. More specifically, the fixed end of one leg 271 is fixed to the first drive motor 211, and the fixed end of the other leg 271 is fixed to the second drive motor 212. Under this structural form, a more stable support can be provided for the land and air amphibious robot.

[0052] Furthermore, the first driving motor 211 and the second driving motor 212 are both fixedly disposed on the side bracket 21 .

[0053] The above description is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A land and air amphibious robot, characterized in that: include, Main frame; A flight assembly is arranged above the main frame and includes a plurality of rotor assemblies; The land-based component is arranged below the main frame and includes a pair of driving components, each driving component includes a land-based device for enabling the land-air amphibious robot to move on the ground, a connecting rod component for adjusting the distance between the land-based device and the main frame, and a driving motor for driving the connecting rod component to move, the connecting rod component includes an upper connecting rod, a lower connecting rod and a joint portion located between the upper connecting rod and the lower connecting rod, the joint portion includes an angle sensor for obtaining angle information between the upper connecting rod and the lower connecting rod, and the land-air amphibious robot is configured to switch the motion mode according to the obtained angle information.

2. The land-air amphibious robot according to claim 1, characterized in that: The motion modes include flight mode and land mode, the switching motion mode is switching from flight mode to land mode or from land mode to flight mode, the angle sensor is a friction electric sensor, the angle sensor includes a casing and a sensor array, the sensor array includes a substrate and a plurality of sensor groups, the plurality of sensor groups are equidistantly arranged on the outer side of the substrate along its circumference, each sensor group includes a first patch and a second patch, the first patch and the second patch are spaced apart, and at the same time, the length ratio of the first patch to the second patch in each sensor group in the sensor array is different.

3. The land-air amphibious robot according to claim 2, characterized in that: The angle sensor also includes a slide fixed on the shell, and the slide includes a first electrode and a second electrode. When the shell rotates, the first electrode can abut against the first patch, and the second electrode can abut against the second patch. The first electrode and the second electrode are both strip-shaped and protrude from the slide toward the sensor array.

4. The land-air amphibious robot according to claim 3, characterized in that: The lengths of the first patches in the plurality of sensor groups are in an arithmetic progression and increase sequentially, while the lengths of the second patches in the plurality of sensor groups are in an arithmetic progression and decrease sequentially.

5. The land-air amphibious robot according to claim 2, characterized in that: The amphibious robot is configured to switch from a walking mode to a flying mode when the angle gradually increases and becomes greater than a first threshold.

6. The land-air amphibious robot according to claim 5, characterized in that: The land-air amphibious robot is also configured to switch from the flight mode to the land walking mode when the angle gradually decreases and is less than a second threshold value.

7. The land-air amphibious robot according to claim 6, characterized in that: The land-air amphibious robot is also configured such that before switching from the land mode to the flight mode, the link assembly adjusts the distance between the main frame and the land device and makes the angle between the upper link and the lower link a second threshold.

8. The amphibious robot according to claim 7, characterized in that: The land-air amphibious robot is also configured such that before switching from the flight mode to the land mode, the link assembly adjusts the distance between the main frame and the land device and makes the angle between the upper link and the lower link a first threshold.

9. The amphibious robot according to claim 8, characterized in that: The rotor assembly includes a flight motor, and the land-based device includes a land-based motor. After the land-to-air amphibious robot switches from a land-based mode to a flight mode, the land-based motor stops running. After the land-to-air amphibious robot switches from a flight mode to a land-based mode, the flight motor stops running.

10. The amphibious robot according to claim 1, characterized in that: The land-air amphibious robot also includes a support assembly, which includes a pair of support devices. The support device includes a leg extending obliquely downward from the drive assembly, and the leg includes a fixed end, which is fixed on the drive motor.

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