Amphibious robot

Abstract

This invention provides an amphibious robot, comprising: a main frame; a flight component disposed above the main frame, including multiple rotor components; and a land-walking component disposed below the main frame, including a pair of drive components. Each drive component includes a land-walking device for enabling the amphibious robot to move on the ground, a linkage assembly for adjusting the distance between the land-walking device and the main frame, and a drive motor for driving the linkage assembly. The linkage assembly includes an upper linkage, a lower linkage, and a joint located between the upper and lower linkages. The joint includes an angle sensor for acquiring angle information between the upper and lower linkages. The amphibious robot is configured to switch motion modes based on the acquired angle information. Through the above configuration, the linkage assembly and the flight component exhibit a synergistic effect, making the takeoff process easier and more energy-efficient.

Description

Technical Field

[0001] This invention relates to an amphibious robot. Background Technology

[0002] Multirotor drones have gained widespread application due to their rapid vertical takeoff and flexible aerial flight capabilities. However, they also suffer from high energy consumption, short flight time, and high noise levels, making it difficult to complete missions requiring long endurance and high stealth. Furthermore, when drones need to move extensively into confined spaces to perform specific tasks, space constraints prevent them from performing flight maneuvers, thus hindering their ability to complete the designated mission. Therefore, amphibious robots combining multirotor drones and mobile robots are receiving increasing research and application.

[0003] Specifically, documents such as CN115284804A, CN116353264A, CN117533067A, and CN221794921U all demonstrate amphibious robots that combine multi-rotor UAVs and mobile robots. These amphibious robots have both flight and land-walking modes. However, the flight and land-walking modes of current amphibious robots are set as independent modes, and the switching process is completed manually. Furthermore, there is usually no linkage between the two modes, and they cannot be linked together. This results in cumbersome operation and makes it impossible to utilize the flight and land-walking mechanisms simultaneously to achieve a synergistic effect. Therefore, a new technical solution is needed to solve the above-mentioned technical problems. Summary of the Invention

[0004] Therefore, the present invention provides an amphibious robot to solve the above-mentioned technical problems.

[0005] An amphibious robot, comprising,

[0006] Mainframe rack;

[0007] The flight assembly, located above the main frame, includes multiple rotor assemblies;

[0008] The land-based component, located below the main frame, includes a pair of drive components. Each drive component includes a land-based device for enabling the amphibious robot to move on the ground, a linkage assembly for adjusting the distance between the land-based device and the main frame, and a drive motor for driving the linkage assembly. The linkage assembly includes an upper linkage, a lower linkage, and a joint located between the upper and lower linkages. The joint includes an angle sensor for acquiring angle information between the upper and lower linkages. The amphibious robot is configured to switch motion modes based on the acquired angle information.

[0009] The motion modes include flight mode and land mode. Switching motion modes is switching from flight mode to land mode or vice versa. The angle sensor is a triboelectric sensor. The angle sensor includes a housing and a sensor array. The sensor array includes a substrate and several sensor groups. The several sensor groups are equidistantly arranged on the outer surface of the substrate along its circumference. Each sensor group includes a first patch and a second patch, which are spaced apart. In addition, the length ratio of the first patch to the second patch is different in each sensor group in the sensor array.

[0010] The angle sensor further includes a slider fixed on the housing. The slider includes a first electrode and a second electrode. When the housing rotates, the first electrode can abut against a first patch, and the second electrode can abut against a second patch. Both the first electrode and the second electrode are strip-shaped and protrude from the slider toward the sensor array.

[0011] In this arrangement, the lengths of the first patches in several sensor groups follow an arithmetic progression and increase sequentially, while the lengths of the second patches in several sensor groups follow an arithmetic progression and decrease sequentially.

[0012] The amphibious robot is configured to switch from land mode to flight mode when the angle gradually increases and exceeds a first threshold.

[0013] The amphibious robot is also configured to switch from flight mode to land mode when the angle gradually decreases and falls below a second threshold.

[0014] The amphibious robot is further configured such that, before switching from land mode to flight mode, the linkage assembly adjusts the distance between the main frame and the land-walking device, and the angle between the upper and lower linkages is a second threshold.

[0015] The amphibious robot is further configured such that, before switching from flight mode to land mode, the linkage assembly adjusts the distance between the main frame and the land-walking device, and the angle between the upper and lower linkages is a first threshold.

[0016] The rotor assembly includes a flight motor, the land-walking device includes a land-walking motor, and the land-and-air amphibious robot stops operating when switching from land-walking mode to flight mode, and the flight motor stops operating when switching from flight mode to land-walking mode.

[0017] The amphibious robot also includes a support assembly, which includes a pair of support devices. Each support device includes a leg that extends obliquely downward from a self-driven component. Each leg includes a fixed end that is fixed to a drive motor.

[0018] Beneficial Effects: This invention provides an amphibious robot comprising a main frame; a flight component disposed above the main frame, including multiple rotor components; and a land-walking component disposed below the main frame, including a pair of drive components. Each drive component includes a land-walking device for enabling the amphibious robot to move on the ground, a linkage assembly for adjusting the distance between the land-walking device and the main frame, and a drive motor for driving the linkage assembly. The linkage assembly includes an upper linkage, a lower linkage, and a joint located between the upper and lower linkages. The joint includes an angle sensor for acquiring angle information between the upper and lower linkages. The amphibious robot is configured to switch motion modes based on the acquired angle information. Through the above configuration, the linkage assembly and the flight component exhibit a synergistic effect, making the takeoff process easier and more energy-efficient. Attached Figure Description

[0019] Figure 1 A three-dimensional schematic diagram of the amphibious robot according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 Middle front view;

[0021] Figure 3 for Figure 1 Middle right view;

[0022] Figure 4 This is a schematic diagram of an angle sensor;

[0023] Figure 5 This is a schematic diagram of the sensor array and slider structure;

[0024] Figure 6 for Figure 5 Enlarged diagram of area A in the middle.

[0025] Flight component 10; main frame 100; flight motor 11; propeller blade 12; land-going component 20; linkage assembly 200; left drive assembly 201; right drive assembly 202; side support 21; first drive motor 211; second drive motor 212; first upper linkage 22; first lower linkage 23; second upper linkage 24; second lower linkage 25; land-going device 26; land-going motor 261; land-going wheel 262; support device 27; outrigger 271; auxiliary wheel 272; joint 28; angle sensor 280; housing 281; sensor array 282; sensor group 2820; first patch 2821; second patch 2822; slider 283; first electrode 2831; second electrode 2832. Detailed Implementation

[0026] Please refer to the attached document. Figure 1-3 This invention provides an amphibious robot that can include a flight mode and a land mode. The flight mode refers to the amphibious robot maintaining an airborne posture. More specifically, the flight mode can be a state of hovering or flying in the air. The land mode refers to the amphibious robot being on the ground. Specifically, it can be a state of maintaining a predetermined position on the ground or moving on the ground. The amphibious robot includes a main frame 100 and a flight component 10 and a land component 20 mounted on the main frame 100.

[0027] The flight component 10 is located above the main frame 100 and includes multiple rotor components, which enable the amphibious robot to be in flight mode. More specifically, the flight component 10 can keep the amphibious robot in the air, such as in a hovering state, a vertical flight state, or a horizontal flight state. Of course, the amphibious robot can also be in other flight states, such as oblique or spiral flight states, which will not be elaborated here.

[0028] In this embodiment, there are four rotor assemblies, forming a quadcopter configuration. It is understood that the rotor assemblies are not limited to four; other suitable numbers, such as six or eight, are also feasible. Each rotor assembly includes a flight motor 11 and a blade 12 connected to the flight motor 11.

[0029] It is understood that the flight component 10 may also include a battery and a control system, which may include an electronic speed controller and a control chip, etc., which will not be described in detail here.

[0030] The land-riding component 20 is disposed below the main frame 100 and includes a pair of drive components. Specifically, the pair of drive components includes a left drive component 201 located on the left and a right drive component 202 located on the right. The left drive component 201 and the right drive component 202 have the same structure and are symmetrically arranged. The left drive component 201 will be described in detail below, while the right drive component 202 will not be described in detail.

[0031] In this embodiment, the left drive assembly 201 includes a land-walking device 26 for enabling the amphibious robot to move on the ground, a linkage assembly 200 for adjusting the relative position between the main frame 100 and the land-walking device 26, and a drive motor for driving the linkage assembly 200 to move.

[0032] The land-going device 26 includes a land-going wheel 262 and a land-going motor 261 for driving the land-going wheel 262 to rotate. In this embodiment, the land-going motor 261 is coaxially arranged with the land-going wheel 262 so that the land-going wheel 262 can be directly driven to move by the land-going motor 261.

[0033] Furthermore, the main frame 100 is in the shape of a flat plate, and a pair of side supports 21 are provided on both sides of the main frame 100. The side supports 21 extend vertically downward from both sides of the main frame 100, so that the main frame 100 and the side supports 21 form an inverted U-shape and enclose a hollow space. The left drive component 201 and the right drive component 202 are respectively fixed on the pair of side supports 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.

[0034] The linkage assembly 200 includes an upper linkage, a lower linkage, and a joint 28 located between the upper linkage and the lower linkage. One end of the linkage assembly 200 is fixed to a drive motor, and the other end is pivotally connected to the land travel device 26. In this embodiment, there is a pair of linkage assemblies 200 and a pair of drive motors, which are respectively connected to a pair of linkage assemblies 200. The ends of the pair of linkage assemblies 200 are both pivotally connected to the land travel device 26. At the same time, the pair of drive motors are fixedly mounted on the side bracket 21, so that the side bracket 21 and the pair of linkage assemblies 200 form a five-bar linkage structure.

[0035] In this embodiment, the two linkage assemblies 200 have the same structure. The linkage assembly on the left side includes a first upper linkage 22 and a first lower linkage 23, and the linkage assembly on the right side includes a second upper linkage 24 and a second lower linkage 25. The drive motor includes a first drive motor 211 and a second drive motor 212. The first upper linkage 22 is connected to the first drive motor 211 and is configured to rotate under the drive of the first drive motor 211. The second upper linkage 24 is connected to the second drive motor 212 and is configured to rotate under the drive of the second drive motor 212. At the same time, the first drive motor 211 and the second drive motor 212 should be configured to be able to drive independently or to be linked together.

[0036] Understandably, the relative position between the main frame 100 and the land-going device 26 is changed by the driving of the first drive motor 211 and the second drive motor 212. Figure 2 In the indicated position, when the first drive motor 211 rotates counterclockwise and the second drive motor 212 rotates clockwise, and the rotation speeds 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 between the main frame 100 and the land vehicle 26 increases. More specifically, when the land vehicle 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 speeds 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 between the main frame 100 and the land vehicle 26 decreases. More specifically, when the land vehicle 26 is on the ground, the main frame 100 moves downward.

[0037] The joint 28 is disposed 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 acquire 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 28 includes an angle sensor 280, and the amphibious robot is configured to switch motion modes by acquiring angle information.

[0038] Please refer to this as well. Figures 4 to 6 ,exist Figures 4 to 6The structure of angle sensor 280 is shown in the figure. The angle sensor 280 is a triboelectric sensor. A triboelectric sensor (TENG) is a sensor based on the triboelectric effect. The triboelectric effect refers to the phenomenon that when two different materials come into contact and separate, static charges are generated at the interface due to the difference in electronegativity of the materials. When these materials move relative to each other, the charges are transferred to the electrodes, thereby generating an electrical signal. The triboelectric sensor generates charge transfer by rubbing electrode layers made of different materials together, thereby realizing the detection of displacement, pressure, rotation, etc.

[0039] The angle sensor 280 includes a housing 281 and a sensor array 282. The housing 281 is cylindrical and includes a cylindrical accommodating space. The sensor array 282 is disposed within the accommodating space and is coaxially arranged with the accommodating space. The housing 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 housing and the sensor array 282 rotate synchronously relative to each other.

[0040] Specifically, the sensor array 282 includes a substrate and a plurality of sensor groups 2820. The plurality of sensor groups 2820 are equidistantly arranged circumferentially on the outer surface of the substrate. Each sensor group 2820 includes a first patch 2821 and a second patch 2822, which serve as negative electrode materials in the triboelectric effect. The first patch 2821 and the second patch 2822 are spaced apart. Furthermore, the length ratio of the first patch 2821 to the second patch 2822 is different in each sensor group 2820 within the sensor array 282. When the first patch 2821... When the first patch 2821 and the second patch 2822 are triboelectrically charged, 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 slider 283 fixed on the housing 281. The slider 283 includes a pair of positive contacts that contact the first patch 2821 and the second patch 2822. When the housing and the sensor array 282 rotate relative to each other, a triboelectric effect is formed between the positive contacts and the pair of positive contacts.

[0041] Furthermore, the slider 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. Both the first electrode 2831 and the second electrode 2832 are strip-shaped and protrude from the slider 283 toward the sensor array 282.

[0042] Furthermore, the lengths of the first patches 2821 in the plurality of sensor groups 2820 are arranged in an arithmetic sequence and increase sequentially. At the same time, the lengths of the second patches 2822 in the plurality of sensor groups 2820 are arranged in an arithmetic sequence and decrease sequentially. In a specific embodiment, the lengths of the first patches 2821 are 1mm, 2mm, 3mm...16mm, while the lengths of the second patches 2822 are 16mm, 15mm, 14mm...1mm, 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 housing.

[0043] 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 improve the charge separation effect.

[0044] Furthermore, an elastic support can be included between the first electrode 2831, the second electrode 2832 and the slider 283. Under the elastic force of the elastic support, the first electrode 2831 and the second electrode 2832 can maintain stable contact during the sliding process and sense the charge transfer signal.

[0045] Furthermore, both the first patch 2821 and the second patch 2822 are polytetrafluoroethylene sheets, and both the first electrode 2831 and the second electrode 2832 are copper electrodes.

[0046] Furthermore, the surfaces of the first patch 2821 and the second patch 2822 are covered with a polyimide film to ensure the durability and resistance to environmental interference of the sensor, as well as to protect the sensitive material from moisture and contaminants. It is understood that the polyimide film can be attached using hot pressing or UV curing processes.

[0047] The amphibious robot is configured to switch motion modes based on acquired angle information. Specifically, when the angle gradually increases and exceeds a first threshold, the amphibious robot switches from land mode to flight mode. It is understood that as the angle gradually increases, the distance between the main frame 100 and the land-walking device 26 gradually increases. At this time, the fuselage will have an upward inertia. When the angle exceeds the first threshold, switching from land mode to flight mode, combined with the rotation of the propeller 12, allows the amphibious robot to move vertically more quickly, thereby accelerating the takeoff process and reducing energy consumption during vertical flight. In this process, the linkage assembly 200 and the flight assembly 10 work synergistically, making takeoff easier and more energy-efficient. Furthermore, the switching from land mode to flight mode is not limited to the specific state of land mode. Whether the land mode is stationary or the amphibious robot is moving on the ground driven by the land-walking device 26, the switching from land mode to flight mode can occur when the angle exceeds the first threshold.

[0048] Understandably, the gradual increase in angle means that the angle at a later time point is greater than the angle at an earlier time point.

[0049] Understandably, when the angle is greater than the first threshold, the flight motor 11 drives the propeller 12 to rotate, thereby completing the mode switch. After switching from land mode to flight mode, the land device 26 should stop moving, more specifically, the land motor 261 should stop moving.

[0050] Furthermore, the first threshold should be greater than or equal to 60°, and more preferably, the first threshold is 70° to 80°.

[0051] 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 attitude of the fuselage in the vertical direction can be determined, so there is no need to obtain vertical acceleration information to complete the mode switching.

[0052] Furthermore, the amphibious robot is configured to switch from flight mode to land mode when the angle gradually decreases and falls below the second threshold. This process typically involves the amphibious robot landing. After switching to land mode, the flight motor 11 should stop operating.

[0053] Understandably, the above process allows the linkage assembly 200 to act as a buffer, reducing the impact of the amphibious robot's descent.

[0054] Furthermore, before switching from land mode to flight mode, the linkage assembly 200 adjusts the distance between the main frame 100 and the land device 26, and makes the angle between the first upper linkage 22 and the first lower linkage 23 a second threshold, so that when switching from land mode to flight mode, there is sufficient adjustment space between the first upper linkage 22 and the first lower linkage 23.

[0055] Furthermore, before switching from flight mode to land mode, the linkage assembly 200 adjusts the distance between the main frame 100 and the land device 26, and makes the angle between the first upper linkage 22 and the first lower linkage 23 a first threshold value, so that when switching from flight mode to land mode, there is sufficient adjustment space between the first upper linkage 22 and the first lower linkage 23.

[0056] Furthermore, the second threshold should be less than or equal to 30°, and more preferably, the second threshold is 10° to 20°.

[0057] Furthermore, the amphibious robot also includes a support assembly configured to support the amphibious robot together with the land-walking device 26, so as to maintain a stable state when the amphibious robot stops flying or moving. The support assembly includes a pair of support devices 27, each of which includes a leg 271 that extends obliquely downward from a self-driven component. The legs 271 of the pair of support devices 27 extend in opposite directions. Specifically, when one leg 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 the pair of land-walking wheels 262 provide support for the amphibious robot.

[0058] Furthermore, the support device 27 also includes auxiliary wheels 272 located at the ends of the outriggers 271, which can cushion the landing of the amphibious robot and assist the amphibious robot in moving on land.

[0059] Furthermore, the outrigger 271 includes a fixed end, which 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. This structure can provide more stable support for the amphibious robot.

[0060] Furthermore, both the first drive motor 211 and the second drive motor 212 are fixedly mounted on the side bracket 21.

[0061] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An amphibious robot, characterized in that, The amphibious robot comprises a main frame, a flight assembly arranged above the main frame, and a land travel assembly arranged below the main frame. The flight assembly comprises a plurality of rotor assemblies. The land travel assembly comprises a pair of drive assemblies, each of which comprises a land travel device for enabling the amphibious robot to travel on the ground, a linkage assembly for adjusting the distance between the land travel device and the main frame, and a drive motor for driving the linkage assembly to move. The linkage assembly comprises an upper linkage, a lower linkage, and a joint part between the upper linkage and the lower linkage. The joint part comprises an angle sensor for obtaining the angle information between the upper linkage and the lower linkage. The amphibious robot is configured to switch the movement mode based on the obtained angle information.

2. The amphibious robot of claim 1, wherein, The movement mode comprises a flight mode and a land travel mode.

3. The amphibious robot of claim 1, wherein, The angle sensor is a triboelectric sensor.

4. The amphibious robot of claim 3, wherein, The angle sensor comprises a sleeve-shaped housing and a sensor array.

5. The amphibious robot of claim 4, wherein, The sensor array comprises a substrate and a plurality of sensor groups.

6. The amphibious robot of claim 5, wherein, Each sensor group comprises a first patch and a second patch.

7. The amphibious robot of claim 6, wherein, The lengths of the first patches in the sensor groups are in an arithmetic sequence and increase successively. The lengths of the second patches in the sensor groups are in an arithmetic sequence and decrease successively. When the angle gradually increases and is greater than a first threshold value, the amphibious robot switches from the land travel mode to the flight mode. When the angle gradually decreases and is less than a second threshold value, the amphibious robot switches from the flight mode to the land travel mode. Before switching from the land travel mode to the flight mode, the linkage assembly adjusts the distance between the main frame and the land travel device, and the angle between the upper linkage and the lower linkage is the second threshold value. Before switching from the flight mode to the land travel mode, the linkage assembly adjusts the distance between the main frame and the land travel device, and the angle between the upper linkage and the lower linkage is the first threshold value. The rotor assemblies comprise flight motors. The land travel device comprises a land travel motor. After the amphibious robot switches from the land travel mode to the flight mode, the land travel motor stops running. After the amphibious robot switches from the flight mode to the land travel mode, the flight motor stops running.

8. The amphibious robot of claim 1, wherein, The amphibious robot also comprises a supporting assembly, which comprises a pair of supporting devices, each of which comprises a supporting leg extending downwardly and obliquely from a self-driving assembly, and the supporting leg comprises a fixed end fixed on the driving motor.

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