Environmental sensing components and amphibious robots

Abstract

The invention discloses an environment sensing component and a land and air amphibious robot, and relates to the technical field of land and air amphibious robots. The environment sensing component comprises a shell, a plurality of environment sensing sensors, a telescopic mechanism and a blocking mechanism. The outer peripheral surface of the shell is provided with a plurality of through holes, and the plurality of environment sensing sensors are arranged one-to-one with the plurality of through holes. The telescopic mechanism is used to drive the plurality of environment sensing sensors to synchronously pass through their corresponding through holes. The blocking mechanism is arranged in the shell. The blocking mechanism comprises a driving part and a plurality of edge baffles, and the plurality of edge baffles are arranged equidistantly along the circumference of the shell and correspond one-to-one with the plurality of through holes. The driving part is used to drive the plurality of edge baffles to move synchronously. When it is necessary to collect environment data, the environment sensing sensor extends out of the shell, and when it is not necessary to collect environment data, the environment sensing sensor retracts into the shell, and the blocking mechanism closes the through holes, so as to prevent the environment sensing sensor from being damaged by the external environment, and play a protective role.

Description

Technical Field

[0001] The present invention relates to the technical field of land and air amphibious robots, and in particular to an environment sensing component and a land and air amphibious robot. Background Art

[0002] Amphibious robots in the prior art usually have the ability to move on the ground and fly in the air to adapt to various application scenarios, such as search and rescue, environmental monitoring or military reconnaissance. The structure of these robots mainly includes key components such as brushless motors, blades, stepper motors, drive wheels, arms, etc., which together constitute the robot's motion and control system. For example, some robots use a motion mode that combines a ground two-wheeled vehicle with a four-rotor drone, which can move on the ground and switch to an aerial flight mode when necessary to avoid obstacles.

[0003] Many existing amphibious robots do not fully consider the protection of sensors during their design. In harsh air or ground environments, sensors are easily damaged. Once a sensor is damaged, the robot may need to return for repairs, which not only reduces operational efficiency but also increases costs and time. Summary of the invention

[0004] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an environment sensing component, in which the environment sensing sensor extends out of the housing when it is necessary to collect environmental data, and retracts into the housing when it is not necessary to collect environmental data, and a blocking mechanism closes the through hole, thereby preventing the external environment from damaging the environment sensing sensor and playing a protective role.

[0005] The present invention also provides a land-air amphibious robot having the above-mentioned environment sensing component.

[0006] An environment sensing component according to an embodiment of the first aspect of the present invention includes: A shell, the outer circumference of which is provided with a plurality of through holes, wherein the plurality of through holes are arranged equidistantly along the circumference of the shell; A plurality of environment sensing sensors are arranged in one-to-one correspondence with the plurality of through holes, and the environment sensing sensors are used to sense the environment outside the housing; A telescopic mechanism, used for driving a plurality of the environment sensing sensors to synchronously pass through the corresponding through holes, so that at least a part of the structure of the environment sensing sensor extends out of the housing, or retracts the environment sensing sensor into the housing; A blocking mechanism is arranged in the shell, and the blocking mechanism includes a driving part and a plurality of edge baffles. The plurality of edge baffles are arranged equidistantly along the circumference of the shell and correspond one-to-one to the plurality of through holes. The driving part is used to drive the plurality of edge baffles to move synchronously so that the edge baffles close or open the through holes.

[0007] The environmental sensing component according to the first aspect of the embodiment of the present invention has at least the following beneficial effects: when it is necessary to collect environmental data, the blocking mechanism first opens the through hole, and then the telescopic mechanism pushes a plurality of environmental sensing sensors out of the shell through the through hole, thereby collecting environmental data; when it is not necessary to collect environmental data, the telescopic mechanism retracts the plurality of environmental sensing sensors into the shell, and then the blocking mechanism closes the through hole again, thereby preventing the external environment from damaging the sensors and playing a protective role, so that the land and air robot can operate stably in various environments, thereby improving operating efficiency and reliability.

[0008] According to some embodiments of the present invention, the telescopic mechanism comprises: A driving member, disposed in the housing; A driving gear, mounted on the driving end of the driving member; A driven gear is rotatably disposed in the housing through a pin shaft and meshes with the driving gear, and the driven gear is provided with a plurality of guide grooves that are arc-shaped and arranged along the circumference of the driven gear; And several groups of connection mechanisms are arranged one by one corresponding to several of the environmental sensing sensors, each group of the connection mechanisms includes a tripod and a moving rod, the top of the tripod is fixedly connected to the top of the interior of the shell, the tripod is provided with a slide groove, the moving rod is slidably connected to the slide groove, one end of the moving rod is connected to the environmental sensing sensor, the top of the moving rod is provided with a guide column, and the guide column is slidably connected to the guide groove.

[0009] According to some embodiments of the present invention, a limiting cap is provided at the top end of the guide column, the limiting cap is located outside the guide groove, and the limiting cap is used to limit the guide column from leaving the guide groove.

[0010] According to some embodiments of the present invention, the driving unit comprises: A circular bottom plate, wherein the middle portion of the circular bottom plate is fixedly mounted on the pin of the driven gear so that the circular bottom plate rotates along with the driven gear, and the bottom ends of the edge baffles are respectively fixedly connected to the top ends of the circular bottom plate.

[0011] According to some embodiments of the present invention, the connection mechanism comprises: A mounting seat connected to the end of the moving rod, the mounting seat being configured to pass through the corresponding through hole, and the mounting seat being provided with a first placement space; A rotating block is rotatably disposed in the first placement space; A linkage assembly, used to drive the rotating block to rotate; The environmental sensing sensor comprises: A main sensor, located in the first placement space and mounted on one side of the rotating block; A secondary sensor, located in the first placement space and installed on the other side of the rotating block; The linkage assembly drives the rotating block to rotate, so that one of the main sensor or the auxiliary sensor extends out of the first placement space.

[0012] According to some embodiments of the present invention, a second placement space is provided at the connection between the mounting seat and the moving rod, the second placement space is communicated with the first placement space, part of the structure of the linkage assembly is located in the first placement space, part of the structure of the linkage assembly is located in the second placement space, and the linkage assembly includes: motor; A belt drive assembly connects the top end of the rotating block and the driving end of the motor.

[0013] According to some embodiments of the present invention, a wiping assembly is installed on the inner peripheral wall of each edge baffle, and the wiping assembly is used to clean the environment sensing sensor, and the wiping assembly includes: A swing plate, rotatably connected to the edge baffle via a pin; A torsion spring, provided on a pin connecting the swing plate and the edge baffle, the torsion spring being used to provide a restoring force to the swing plate; A brush is arranged on the swing plate.

[0014] According to some embodiments of the present invention, the swing plate is provided with a moving groove, and the wiping assembly further comprises: A moving block, part of which is located in the moving groove, the moving block can move in the moving groove, and the brush is connected to the moving block; A spring is fixed in the moving groove, one end of which is fixedly arranged to contact the inner wall of the moving groove, and the other end of which is in contact with the moving block. The spring is used to provide a restoring force for the moving block.

[0015] According to some embodiments of the present invention, the wiping assembly includes a toggle member, the toggle member is fixedly connected to a pin connecting the swing plate and the edge baffle, the environment sensing assembly includes a plurality of push groups arranged in the shell, the plurality of push groups are arranged along the circumference of the shell and are arranged one-to-one with the plurality of brushes, and each of the push groups includes: A U-shaped member, the top of which is fixedly connected to the top of the inner side of the shell, the U-shaped member is arranged correspondingly at the through hole, and the U-shaped member is configured to avoid the environment sensing sensor; The protrusion is connected to the U-shaped member. When the circular bottom plate drives the edge baffle to rotate, the protrusion can abut against the toggle member to drive the swing plate to rotate.

[0016] The land-air amphibious robot according to the second embodiment of the present invention includes the environment sensing component of the first embodiment.

[0017] The land-air amphibious robot according to the second embodiment of the present invention comprises the environment sensing component of the first embodiment and thus has at least the above-mentioned beneficial effects, which will not be elaborated herein.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 A schematic diagram of the structure of the land-air amphibious robot in a flying state according to some embodiments of the present invention; Figure 2 It is a schematic diagram of the structure of the land-air amphibious robot in some embodiments of the present invention in a land-based state; Figure 3 is a cross-sectional view of an environment sensing component according to some embodiments of the present invention; Figure 4 A schematic diagram of a blocking mechanism and a wiping component of an environment sensing component according to some embodiments of the present invention; Figure 5 A schematic diagram of the structure of a wiping component of an environment sensing component in some embodiments of the present invention; Figure 6 Schematic diagram of a partial structure of a telescopic mechanism of an environment sensing component according to some embodiments of the present invention.

[0020] Reference numerals: Land and air amphibious robots 1000; Environmental sensing component 1; Main chassis 2; Connecting seat 3; Driving mechanism 4; Radar 5; Housing 100, through hole 110; Environmental sensing sensor 200, main sensor 210, auxiliary sensor 220; Telescopic mechanism 300, driving member 310, driving gear 320, driven gear 330, guide groove 331, connecting mechanism 340, tripod 341, slide groove 3411, protrusion 3412, moving rod 342, guide column 343, limiting cap 344, mounting seat 345, first placement space 3451, second placement space 3452, rotating block 346, linkage assembly 347, belt transmission group 3471, motor 3472; A blocking mechanism 400, an edge baffle 410, and a circular bottom plate 420; Wiping assembly 500, fixing member 510, swing plate 520, moving slot 521, torsion spring 530, brush 540, moving block 550, spring 560, toggle member 570; The push group 600 , the U-shaped member 610 , and the protrusion 620 . DETAILED DESCRIPTION

[0021] Reference Figure 1 and Figure 2 As shown, the land-air amphibious robot 1000 of the embodiment of the present invention comprises an environment sensing component 1, a main box 2, a plurality of connection seats 3, a plurality of drive mechanisms 4 and a radar 5. The main box 2 is a core component, carrying the control system of the entire land-air amphibious robot 1000. The environment sensing component 1 is arranged at the top of the main box 2, and the radar 5 is arranged at the top of the environment sensing component 1. The radar 5 can transmit and receive electromagnetic waves to detect obstacles, assist navigation and avoid obstacles, is not affected by weather and light, works all-weather, provides a wide field of view, reduces blind spots, and enhances safety. A plurality of connection seats 3 are respectively connected to both sides of the main box 2, and a plurality of drive mechanisms 4 are arranged one by one with a plurality of connection seats 3. The connection seats 3 are used to support and fix the drive mechanisms 4. The drive mechanisms 4 are rotatably connected to the connection seats 3. The drive mechanisms 4 are responsible for providing power. The drive mechanisms 4 are provided with rotatable blades inside, and the blades are used to provide flight power. The outer periphery of the drive mechanisms 4 is provided with rotatable wheels, and the wheels are used to provide walking power. Figure 1 In the figure, the land-air amphibious robot 1000 is in a flying state, the driving mechanism 4 rotates to a horizontal state relative to the connecting seat 3, and the blades of the driving mechanism 4 can drive the entire land-air amphibious robot 1000 to fly in the air. Figure 2In the figure, the land-air amphibious robot 1000 is in a land-walking state, and the driving mechanism 4 rotates to a vertical state relative to the connecting seat 3, so that the wheels on the periphery of the driving mechanism 4 can contact the ground. When the wheels rotate, the entire land-air amphibious robot 1000 can be driven to travel on the ground.

[0022] Reference Figure 3 As shown, an environmental sensing component 1 of an embodiment of the present invention can be applied to land and air amphibious robots or unmanned aerial vehicles and other equipment. The environmental sensing component 1 includes a shell 100, a plurality of environmental sensing sensors 200, a telescopic mechanism 300 and a blocking mechanism 400. The shell 100 is a cylindrical structure, and the shell 100 has an outer peripheral surface. The outer peripheral surface of the shell 100 is provided with a plurality of through holes 110, and the plurality of through holes 110 are arranged equidistantly along the circumference of the shell 100. The plurality of environmental sensing sensors 200 are arranged one-to-one with the plurality of through holes 110, and the environmental sensing sensors 200 can pass through their corresponding through holes 110. The housing 100 has a cavity inside, and the telescopic mechanism 300 is located inside the housing 100. The telescopic mechanism 300 is used to drive a plurality of environment sensing sensors 200 to synchronously pass through their corresponding through holes 110, so that at least part of the structure of the environment sensing sensor 200 can be extended outside the housing 100. At this time, the environment sensing sensor 200 can sense the environment outside the housing 100, thereby collecting external environment data, or the telescopic mechanism 300 can drive the environment sensing sensor 200 to retract into the housing 100. The blocking mechanism 400 is arranged inside the housing 100, and the blocking mechanism 400 includes a driving part and a plurality of edge baffles 410. The plurality of edge baffles 410 are arranged equidistantly along the circumference of the housing 100 and correspond to the plurality of through holes 110 one by one. The driving part is used to drive the plurality of edge baffles 410 to rotate synchronously along the circumference of the housing 100, so that the edge baffles 410 can close or open the corresponding through holes 110.

[0023] During operation, if it is necessary to collect environmental data, the blocking mechanism 400 first opens the through hole 110, and then the telescopic mechanism 300 pushes a plurality of environmental sensing sensors 200 out of the shell 100 from the through hole 110, thereby collecting environmental data; when it is not necessary to collect environmental data, the telescopic mechanism 300 retracts a plurality of environmental sensing sensors 200 into the shell 100, and then the blocking mechanism 400 closes the through hole 110 again to prevent the external environment from damaging the sensor and the inside of the shell 100, thereby playing a protective role, allowing the land and air robot to operate stably in various environments, thereby improving operating efficiency and reliability.

[0024] In some other embodiments, the telescopic mechanism 300 includes a plurality of telescopic rods corresponding to a plurality of environmental sensing sensors 200 one by one, and the plurality of environmental sensing sensors 200 can be driven to telescope synchronously through the telescopic rods.

[0025] Reference Figure 3 As shown, in some embodiments, the telescopic mechanism 300 includes a driving member 310, a driving gear 320, a driven gear 330, and a plurality of connecting mechanisms 340. The driving member 310 is disposed in the housing 100, and the driving member 310 may be a motor. The driving gear 320 is sleeved on the driving end of the driving member 310. The driven gear 330 is rotatably disposed in the housing 100 through a pin shaft and meshes with the driving gear 320. The driven gear 330 is provided with a plurality of guide grooves 331 that are arc-shaped and arranged along the circumference of the driven gear 330. From the center of the driven gear 330 to the edge of the driven gear 330, the distance from the guide groove 331 to the center of the driven gear 330 gradually increases. Several groups of connecting mechanisms 340 are arranged one by one corresponding to several environmental sensing sensors 200. Each group of connecting mechanisms 340 includes a tripod 341 and a moving rod 342. The tripod 341 and the moving rod 342 both extend radially along the shell 100. The top of the tripod 341 is fixedly connected to the top of the inside of the shell 100 through a protrusion 3412. Therefore, the tripod 341 is fixed. The tripod 341 is provided with a slide groove 3411, and the moving rod 342 is slidably connected to the slide groove 3411. The moving rod 342 can slide relative to the tripod 341 along the length direction of the moving rod 342 itself, thereby realizing a telescopic action. One end of the moving rod 342 is connected to the environmental sensing sensor 200, and the other end of the moving rod 342 extends into the bottom of the driven gear 330. The top of the moving rod 342 is provided with a guide column 343, and the guide column 343 is slidably connected to the guide groove 331.

[0026] During operation, the driving member 310 drives the driving gear 320 to rotate, and the driving gear 320 drives the driven gear 330 to rotate. The guide column 343 is guided by the guide groove 331, and the guide column 343 gradually approaches or moves away from the center of the driven gear 330, which specifically depends on the rotation direction of the driven gear 330. At the same time, the guide column 343 pulls the moving rod 342 to perform telescopic movement, so that the moving rod 342 drives the environment sensing sensor 200 to extend out of the housing 100 or retract into the housing 100. The various parts work together to ensure that the telescopic mechanism 300 moves smoothly and accurately. The following example illustrates that Figure 3 As shown, Figure 3 The environment sensing sensor 200 in the housing 100 is in an extended state. At this time, if the environment sensing sensor 200 is to be retracted into the housing 100, the driving member 310 needs to drive the driven gear 330 along the Figure 3When the driven gear 330 rotates in the direction of the arrow, the guide post 343 will gradually approach the driven gear 330 under the guidance of the guide groove 331, and the guide post 343 will drive the moving rod 342 to approach the center of the driven gear 330, so that the environment sensing sensor 200 is received in the housing 100. Similarly, when the environment sensing sensor 200 needs to be extended out of the housing 100, the driven gear 330 moves along the arrow direction. Figure 3 Rotate in the opposite direction of the arrow.

[0027] It should be noted that during the rotation process, the driven gear 330 guides the guide column 343 through the guide groove 331 to drive all the moving rods 342 to perform telescopic movement synchronously, with good synchronization. In addition, the resistance of the guide groove 331 and the guide column 343 is small, so that the rotation movement of the driven gear 330 is smoother, ensuring the stability and accuracy of the movement of the moving rod 342 during the telescopic process, and preventing structural damage or functional failure caused by improper guidance.

[0028] Reference Figure 3 As shown, in some embodiments, a limiting cap 344 is provided at the top of the guide column 343, and the limiting cap 344 is located outside the guide groove 331. The width of the limiting cap 344 is greater than the groove width of the guide groove 331. The limiting cap 344 can abut the top of the driven gear 330 to limit the guide column 343 from disengaging from the guide groove 331 in the vertical direction, thereby ensuring that the connection between the guide column 343 and the guide groove 331 is stable.

[0029] Reference Figure 3 As shown, in some embodiments, the driving part includes a circular bottom plate 420, which is located in the shell 100, and the circular bottom plate 420 is located below the driven gear 330. The middle part of the circular bottom plate 420 is fixedly mounted on the pin shaft of the driven gear 330, so that the circular bottom plate 420 rotates together with the driven gear 330, and the bottom ends of all the edge baffles 410 are fixedly connected to the top end of the circular bottom plate 420 respectively, and the edge baffles 410 are located at the edge of the circular bottom plate 420, and the edge baffles 410 will rotate together with the circular bottom plate 420.

[0030] When the environment sensing sensor 200 needs to be extended out of the housing 100, the driving member 310 drives the driving gear 320 to rotate, and the driving gear 320 drives the driven gear 330 to rotate, so that the moving rod 342 is driven to extend. During this process, the driven gear 330 also drives the circular bottom plate 420 to rotate coaxially, so that the circular bottom plate 420 drives the edge baffle 410 to avoid the through hole 110, so that the environment sensing sensor 200 can pass through the through hole 110; when the environment sensing sensor 200 needs to be retracted into the housing 100, as shown in FIG. Figure 3As shown, the driving member 310 drives the driving gear 320 to rotate, and the driving gear 320 drives the driven gear 330 to rotate along Figure 3 The movable rod 342 rotates in the direction of the arrow in the figure, so that the environmental sensing sensor 200 is retracted into the housing 100. At the same time, driven by the driven gear 330, the circular bottom plate 420 and the edge baffle 410 also rotate in the direction of the arrow, and the edge baffle 410 gradually approaches the through hole 110 and closes or blocks the through hole 110.

[0031] In this embodiment, the circular bottom plate 420 is driven to rotate by the driven gear 330, and the circular bottom plate 420 will drive all the edge baffles 410 to rotate at the same time, which can save driving elements and reduce costs. In addition, the circular bottom plate 420 occupies a small space and is more convenient to arrange. At the same time, in this embodiment, the telescopic mechanism 300 and the blocking mechanism 400 are driven by the same driving member 310 to move together, which can better achieve accurate synchronous movement, thereby improving stability.

[0032] In some other embodiments, multiple driving elements may be provided to respectively drive multiple edge baffles 410 to rotate to close or open the through hole 110 , but this is more costly.

[0033] It is understandable that the land and air amphibious robots in the prior art are not equipped with backup sensors. Therefore, when the robot is at high altitude or in a complex land environment, if the sensor is damaged, it needs to return for repairs. After the repairs are completed, it needs to return to the original position for detection, which seriously affects the continuity of the mission and the reliability of the robot.

[0034] Based on this, refer to Figure 3 and Figure 6 As shown, in some embodiments, the connection mechanism 340 includes a mounting seat 345, a rotating block 346, and a linkage assembly 347. The mounting seat 345 is connected to the end of the moving rod 342, and the mounting seat 345 is configured to be able to pass through the corresponding through hole 110. The mounting seat 345 is provided with a first placement space 3451. The rotating block 346 is rotatably disposed in the first placement space 3451, and the rotating block 346 is fixedly connected to the environment sensing sensor 200. The linkage assembly 347 is used to drive the rotating block 346 to rotate, and the rotation of the rotating block 346 will drive the environment sensing sensor 200 to rotate together. Figure 6As shown, the environment sensing sensor 200 includes a main sensor 210 and a sub-sensor 220. The main sensor 210 is located in the first placement space 3451 and installed on one side of the rotating block 346, and the sub-sensor 220 is located in the first placement space 3451 and installed on the other side of the rotating block 346. During operation, the linkage assembly 347 drives the rotating block 346 to rotate. When the rotating block 346 rotates, one of the main sensor 210 or the sub-sensor 220 can be extended out of the first placement space 3451, so that it is exposed to the outside to obtain external environment data.

[0035] During operation, under normal circumstances, the main sensor 210 extends out of the first placement space 3451, so that the main sensor 210 is exposed, and the auxiliary sensor 220 is located in the first placement space 3451, so that the auxiliary sensor 220 is blocked, and the environmental data is detected by the main sensor 210. When the main sensor 210 fails, the emergency program is immediately started, and after the linkage component 347 receives the signal of the emergency program, it starts to drive the rotating block 346 to rotate, so that the failed main sensor 210 rotates into the first placement space 3451, and the main sensor 210 is blocked. At this time, the auxiliary sensor 220 is rotated to extend out of the first placement space 3451, so that the auxiliary sensor 220 is exposed, and the environmental data is detected by the auxiliary sensor 220. In high altitude or complex land environments, if the main sensor 210 fails, the land-air amphibious robot 1000 does not need to return for maintenance, but can quickly switch to the secondary sensor 220 to continue performing environmental perception tasks, thereby adapting to emergency situations, saving time and energy, and improving the operating efficiency and reliability of the land-air amphibious robot 1000.

[0036] In some embodiments, the selection of the main sensor 210 and the auxiliary sensor 220 depends on the specific tasks and environmental requirements of the land-air amphibious robot 1000. Through reasonable selection and matching, the performance and adaptability of the land-air amphibious robot 1000 can be maximized. If the task requires the detection of specific gases, such as oxygen or harmful gases, a smoke sensor can be selected as the main sensor 210 or the auxiliary sensor 220. In applications that require the perception of altitude changes, such as aerial flight or high-altitude operations, an altitude sensor or an air pressure sensor can be selected as the main sensor 210 or the auxiliary sensor 220. The main sensor 210 and the auxiliary sensor 220 can select different types of sensors according to the application scenarios and mission objectives of the land-air amphibious robot 1000.

[0037] Reference Figure 6As shown, in some embodiments, a second placement space 3452 is provided at the connection between the mounting seat 345 and the moving rod 342, the second placement space 3452 is communicated with the first placement space 3451, a part of the structure of the linkage assembly 347 is located in the first placement space 3451, a part of the structure of the linkage assembly 347 is located in the second placement space 3452, the linkage assembly 347 includes a belt transmission group 3471 and a motor 3472, the belt transmission group 3471 is connected to the rotating block 346 and the driving end of the motor 3472, and the motor 3472 is used to drive the belt transmission group 3471, thereby driving the rotating block 346 to rotate. In this embodiment, by arranging the second placement space 3452, it can be used to place the linkage assembly 347, which can make full use of the internal space of the mounting seat 345 and the moving rod 342 and reduce the space occupied by the linkage assembly 347.

[0038] In some other embodiments, the linkage component 347 may also be configured as a motor, and the rotating block 346 is connected to the driving end of the linkage component 347 .

[0039] It should be noted that since amphibious robots operate in various environments, dust and dirt are easily accumulated on the sensor surface, which will reduce the performance of the sensor. Robots in the prior art often lack effective automatic cleaning mechanisms and require manual intervention for cleaning, which not only increases the difficulty of maintenance, but also limits the application of robots in unmanned environments. Therefore, the prior art still needs further innovation and improvement in improving the operating efficiency and reliability of robots.

[0040] Based on this, refer to Figures 3 to 5 As shown, in some embodiments, a wiping assembly 500 is installed on the inner wall of each edge baffle 410, and the wiping assembly 500 is used to clean the environment sensing sensor 200. The wiping assembly 500 includes a fixing member 510, a swinging plate 520, a torsion spring 530 and a brush 540. The number of fixing members 510 is several, and every two fixing members 510 form a group. Each group of fixing members 510 is respectively arranged on the inner side of each edge baffle 410, and the two fixing members 510 are arranged one above and one below. The swinging plate 520 is located between the two fixing members 510, and the swinging plate 520 is rotatably connected to the two fixing members 510 through a pin shaft, so that the swinging plate 520 can rotate relative to the edge baffle 410. The torsion spring 530 is arranged on the pin shaft connecting the swinging plate 520 and the fixing member 510, and the torsion spring 530 is used to provide a reset force to the swinging plate 520, and the brush 540 is arranged at the end of the swinging plate 520.

[0041] In the course of work, Figures 3 to 5 As shown in FIG. 1 , if the environment sensor 200 needs to be retracted into the housing 100, the driven gear 330 will move along Figure 3 and Figure 4, thereby driving the edge baffle 410 to rotate in the direction of the arrow. At this time, the blocking mechanism 400 gradually closes the through hole 110, and the wiping assembly 500 gradually approaches the environment sensing sensor 200. Finally, the brush 540 contacts the environment sensing sensor 200, thereby cleaning the environment sensing sensor 200. During the cleaning process, since the brush 540 contacts the environment sensing sensor 200, the swing plate 520 overcomes the elastic force of the torsion spring 530, which causes the swing plate 520 to rotate relative to the edge baffle 410, so that the brush 540 can clean the environment sensing sensor 200 at multiple angles. Compared with the method of fixing the brush 540, the cleaning effect of this embodiment is better and the cleaning is more comprehensive. Moreover, when the brush 540 is separated from the environment sensing sensor 200, the torsion spring 530 can reset the swing plate 520 to prepare for the next wiping.

[0042] Reference Figure 5 As shown, in some embodiments, the swing plate 520 is provided with a moving groove 521, and the wiping assembly 500 further includes a moving block 550 and a spring 560. Part of the structure of the moving block 550 is located in the moving groove 521, and the moving block 550 can move in the moving groove 521, and the brush 540 is connected to the moving block 550. The spring 560 is fixed in the moving groove 521, one end of which is fixedly arranged to contact the inner wall of the moving groove 521, and the other end is in contact with the moving block 550, and the spring 560 is used to provide a reset force for the moving block 550.

[0043] During the process of the brush 540 cleaning the environmental sensing sensor 200, since the brush 540 is in contact with the environmental sensing sensor 200, the spring 560 will be compressed, causing the moving block 550 to move in the moving groove 521. This can be understood as providing a buffer displacement for the brush 540, which helps to alleviate the pressure of the brush 540 on the sensor and prevent the brush 540 from damaging the sensor.

[0044] Reference Figures 3 to 5 As shown, in some embodiments, the wiping assembly 500 includes a toggle member 570, one end of which is fixedly connected to a pin connecting the swing plate 520 and the edge baffle 410, and the environmental sensing assembly 1 includes a plurality of push groups 600 disposed in the shell 100, and the plurality of push groups 600 are arranged along the circumference of the shell 100 and are arranged one-to-one with the plurality of brushes 540, each push group 600 includes a U-shaped member 610 and a protrusion 620, the top end of the U-shaped member 610 is fixedly connected to the top end of the inner side of the shell 100, so that the U-shaped member 610 is fixed, and the U-shaped member 610 is arranged correspondingly at the position of the through hole 110, and the U-shaped member 610 is configured to avoid the environmental sensing sensor 200 to avoid interference with the U-shaped member 610 when the environmental sensing sensor 200 extends out of the shell 100 or retracts into the shell 100, and the protrusion 620 is connected to the U-shaped member 610.

[0045] like Figure 3 and Figure 4 As shown in FIG. 1 , when the environment sensing sensor 200 is retracted into the housing 100, the circular bottom plate 420 drives the edge baffle 410 to move along the Figure 3 and Figure 4 The toggle member 570 is rotated in the direction of the arrow in the figure, so that the toggle member 570 will gradually approach the protrusion 620, and finally the protrusion 620 can abut against the toggle member 570, thereby driving the swing plate 520 to rotate. It should be noted that when the toggle member 570 abuts against the protrusion 620, the U-shaped member 610 will not interfere with the wiping assembly 500. The protrusion 620 is used to selectively abut against the toggle member 570. When the edge baffle 410 is in the process of blocking the through hole 110, the toggle member 570 on it gradually contacts the protrusion 620, and this contact causes the toggle member 570 to move along the Figure 5 The sensor 500 is rotated by a certain angle in the direction of the arrow in the figure, thereby driving the swing plate 520 connected thereto to rotate together, and the torsion spring 530 and the spring 560 on the swing plate 520 are compressed, so that the brush 540 starts to rotate, thereby wiping the sensor. The design of the protrusion 620 ensures the accuracy and consistency of the wiping action of multiple brushes 540. The selective contact between the protrusion 620 and the toggle member 570 converts the mechanical motion into a wiping action, ensuring the cleaning and maintenance of the sensor in various environments, and improving the environmental adaptability and reliability of the land-air amphibious robot 1000.

[0046] like Figure 4 and Figure 5 As shown, in some embodiments, each wiping assembly 500 includes two toggle members 570, one of which is located at the top of the uppermost fixing member 510, and the other toggle member 570 (not shown in the drawings) is located at the top of the lowermost fixing member 510, and each pushing group 600 includes two protrusions 620, which are arranged one above the other, and when the environment sensing sensor 200 is retracted into the housing 100, the environment sensing sensor 200 is located between the two protrusions 620. In this embodiment, by arranging two toggle members 570 and two protrusions 620, the protrusions 620 and the toggle members 570 are in contact with each other more stably, ensuring that the protrusions 620 can drive the toggle members 570 to rotate.

[0047] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, inside, outside, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0048] In the description of the present invention, if there is a description of first or second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0049] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0050] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An environmental sensing component (1), characterized in that: include: A shell (100) has a plurality of through holes (110) formed on its outer circumference, wherein the plurality of through holes (110) are arranged equidistantly along the circumference of the shell (100); A plurality of environment sensing sensors (200) are arranged in a one-to-one correspondence with the plurality of through holes (110), the environment sensing sensors (200) being used to sense the environment outside the housing (100); a telescopic mechanism (300) for driving a plurality of the environment sensing sensors (200) to synchronously pass through the corresponding through holes (110) so as to extend at least a portion of the structure of the environment sensing sensor (200) out of the housing (100), or to retract the environment sensing sensor (200) into the housing (100); A blocking mechanism (400) is disposed in the shell (100), the blocking mechanism (400) comprising a driving unit and a plurality of edge baffles (410), the plurality of edge baffles (410) being arranged equidistantly along the circumference of the shell (100) and corresponding one-to-one to the plurality of through holes (110), the driving unit being used to drive the plurality of edge baffles (410) to move synchronously, so that the edge baffles (410) close or open the through holes (110).

2. The environment sensing component (1) according to claim 1, characterized in that: The telescopic mechanism (300) comprises: A driving member (310) is disposed in the housing (100); A driving gear (320) is sleeved on the driving end of the driving member (310); A driven gear (330) is rotatably disposed in the housing (100) via a pin shaft and meshes with the driving gear (320), wherein the driven gear (330) is provided with a plurality of guide grooves (331) that are arc-shaped and arranged along the circumference of the driven gear (330); And a plurality of groups of connection mechanisms (340), which are arranged one by one corresponding to a plurality of the environmental sensing sensors (200), each group of the connection mechanisms (340) includes a tripod (341) and a moving rod (342), the top end of the tripod (341) is fixedly connected to the top end inside the shell (100), the tripod (341) is provided with a slide groove (3411), the moving rod (342) is slidably connected to the slide groove (3411), one end of the moving rod (342) is connected to the environmental sensing sensor (200), the top end of the moving rod (342) is provided with a guide column (343), and the guide column (343) is slidably connected to the guide groove (331).

3. The environment sensing component (1) according to claim 2, characterized in that: A limiting cap (344) is provided at the top end of the guide column (343), and the limiting cap (344) is located outside the guide groove (331). The limiting cap (344) is used to limit the guide column (343) from leaving the guide groove (331).

4. The environment sensing component (1) according to claim 2, characterized in that: The driving unit comprises: A circular bottom plate (420), wherein the middle portion of the circular bottom plate (420) is fixedly mounted on the pin of the driven gear (330) so that the circular bottom plate (420) rotates along with the driven gear (330), and the bottom ends of the edge baffles (410) are respectively fixedly connected to the top ends of the circular bottom plate (420).

5. The environment sensing component (1) according to claim 2, characterized in that: The connecting mechanism (340) comprises: A mounting seat (345) connected to the end of the moving rod (342), the mounting seat (345) being configured to be able to pass through the corresponding through hole (110), and the mounting seat (345) being provided with a first placement space (3451); A rotating block (346) rotatably disposed in the first placement space (3451); A linkage assembly (347), used for driving the rotating block (346) to rotate; The environment sensing sensor (200) comprises: A main sensor (210) is located in the first placement space (3451) and is installed on one side of the rotating block (346); A secondary sensor (220), located in the first placement space (3451) and installed on the other side of the rotating block (346); The linkage assembly (347) drives the rotating block (346) to rotate, so that one of the main sensor (210) or the auxiliary sensor (220) extends out of the first placement space (3451).

6. The environment sensing component (1) according to claim 5, characterized in that: A second placement space (3452) is provided at the connection between the mounting seat (345) and the moving rod (342), the second placement space (3452) is communicated with the first placement space (3451), a part of the structure of the linkage assembly (347) is located in the first placement space (3451), and a part of the structure of the linkage assembly (347) is located in the second placement space (3452), and the linkage assembly (347) comprises: Motor (3472); A belt drive assembly (3471) connects the top end of the rotating block (346) and the driving end of the motor (3472).

7. An environment sensing component (1) according to claim 4, characterized in that: A wiping assembly (500) is installed on the inner peripheral wall of each edge baffle (410), and the wiping assembly (500) is used to clean the environment sensing sensor (200). The wiping assembly (500) comprises: A swing plate (520) is rotatably connected to the edge baffle (410) via a pin shaft; a torsion spring (530), arranged on a pin connecting the swing plate (520) and the edge baffle (410), the torsion spring (530) being used to provide a restoring force to the swing plate (520); A brush (540) is arranged on the swing plate (520).

8. The environment sensing component (1) according to claim 7, characterized in that: The swing plate (520) is provided with a moving groove (521), and the wiping assembly (500) further comprises: A moving block (550), part of which is located in the moving groove (521), the moving block (550) is movable in the moving groove (521), and the brush (540) is connected to the moving block (550); A spring (560) is fixed in the movable groove (521), one end of which is fixedly arranged to contact the inner wall of the movable groove (521), and the other end of which is in contact with the movable block (550). The spring (560) is used to provide a reset force for the movable block (550).

9. The environment sensing component (1) according to claim 7, characterized in that: The wiping assembly (500) comprises a toggle member (570), wherein the toggle member (570) is fixedly connected to a pin connecting the swing plate (520) and the edge baffle (410). The environment sensing assembly (1) comprises a plurality of push groups (600) arranged in the housing (100), wherein the plurality of push groups (600) are arranged along the circumference of the housing (100) and are arranged one-to-one with the plurality of brushes (540), and each of the push groups (600) comprises: A U-shaped member (610), the top end of which is fixedly connected to the top end of the inner side of the housing (100), the U-shaped member (610) being arranged correspondingly at the through hole (110), and the U-shaped member (610) being configured to avoid the environment sensing sensor (200); The protrusion (620) is connected to the U-shaped member (610). When the circular bottom plate (420) drives the edge baffle (410) to rotate, the protrusion (620) can abut against the toggle member (570) to drive the swing plate (520) to rotate.

10. A land-air amphibious robot (1000), characterized in that: include: An environmental sensing component (1) as claimed in any one of claims 1 to 9.

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