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, comprises a plurality of rotor wing assemblies and is used for enabling the air-ground amphibious robot to be in a vertical flight state or a horizontal flight state; 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 and a connecting rod assembly used for adjusting the position of the land walking device; the air-ground amphibious robot comprises a first mass center, the land walking device comprises second mass centers, the first mass center and the pair of second mass centers define a virtual plane, and when the air-ground amphibious robot is in a vertical flight state or a horizontal flight state, the connecting rod assembly adjusts the position of the land walking device so that the virtual plane can be roughly in a vertical state. Through the arrangement, the air-ground amphibious robot can be kept stable in different postures or in posture changes, and meanwhile energy consumption can be reduced.

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. However, practice has found that since these air-land amphibious robots carry land-based components, their empty weight is greatly increased, which on the one hand leads to increased energy consumption, and on the other hand, when the air-land amphibious robots need to convert from vertical flight to horizontal flight or from horizontal flight to vertical flight, the inertia of the land-based components during the conversion process causes the stability of the air-land amphibious robots in the air to be greatly reduced. 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; The flight assembly is arranged above the main frame and includes a plurality of rotor assemblies, and is used to put the land-air amphibious robot in a vertical flight state or a horizontal flight state; The land-moving assembly is arranged below the main frame and includes a pair of driving assemblies, each of which includes a land-moving device for making the land-air amphibious robot move on the ground and a connecting rod assembly for adjusting the position of the land-moving device; The land-air amphibious robot includes a first center of mass, and the land-running device includes a second center of mass. The first center of mass and a pair of second centers of mass define a virtual plane, and when the land-air amphibious robot is in a vertical flight state or a horizontal flight state, the connecting rod assembly adjusts the position of the land-running device so that the virtual plane is roughly in a vertical state.

[0006] Wherein, the land-air amphibious robot is configured such that when the flight state changes, the connecting rod assembly adjusts the position of the land-based device so that the second center of mass changes accordingly.

[0007] Wherein, when the second center of mass changes accordingly, the movement direction of the second center of mass is opposite to the movement direction of the body of the land-air amphibious robot.

[0008] Among them, the connecting rod assembly includes a first drive motor, a second drive motor and a first upper connecting rod connected to the first drive motor, a first lower connecting rod pivotally connected to the first upper connecting rod, a second upper connecting rod connected to the second drive motor, and a second lower connecting rod pivotally connected to the second upper connecting rod. The land-traveling device is pivoted at the end of the first lower connecting rod and at the end of the second lower connecting rod. The first drive motor and the second drive motor are arranged on a side bracket. The side bracket, the first upper connecting rod, the first lower connecting rod, the second upper connecting rod and the second lower connecting rod form a five-connecting rod structure.

[0009] Among them, the land-air amphibious robot also includes a control device to determine the position of the second center of mass, and the control device includes an angle sensor arranged between the first upper connecting rod and the first lower connecting rod, and between the second upper connecting rod and the second lower connecting rod.

[0010] Among them, the angle sensor includes a sleeved 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 along the circumference of the outer side of the substrate, each sensor group includes a pair of spaced sensors, and the length ratio between each pair of sensors in the plurality of sensor groups is different.

[0011] Wherein, the angle sensor further comprises a slide fixed on the housing, and the slide comprises a pair of contacts corresponding to the sensors, and parameters of the corresponding sensors are obtained through the pair of contacts.

[0012] The slide comprises a first electrode and a second electrode, wherein the first electrode and the second electrode respectively form contacts corresponding to a pair of sensors, and the first electrode and the second electrode are both in strip shape and protrude from the slide toward the sensor.

[0013] The lengths of the first electrodes in the plurality of sensor groups are in an arithmetic progression and increase sequentially, and at the same time, the lengths of the second electrodes in the plurality of sensor groups are in an arithmetic progression and increase and decrease sequentially.

[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 effects: 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, for making the land-air amphibious robot in a vertical flight state or a horizontal flight state; a running component, arranged below the main frame, comprising a pair of driving components, each driving component comprising a running device for making the land-air amphibious robot move on the ground and a connecting rod component for adjusting the position of the running device; the land-air amphibious robot comprises a first center of mass, the running device comprises a second center of mass, the first center of mass and a pair of second centers of mass define a virtual plane, and when the land-air amphibious robot is in a vertical flight state or a horizontal flight state, the connecting rod assembly adjusts the position of the running device so that the virtual plane is roughly in a vertical state, and the above-mentioned arrangement can make the land-air amphibious robot remain stable in different postures or changes in posture, and at the same time can reduce energy consumption. 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; Figure 7 This is a schematic diagram of the land-air amphibious robot in a level flight state; Flight assembly 10; main frame 100; flight motor 11; blades 12; land assembly 20; left drive assembly 201; right drive assembly 202; side bracket 21; first drive motor 211; second drive motor 212; first upper link 22; first lower link 23; second upper link 24; second lower link 25; land device 26; land motor 261; land wheel 262; support device 27; support leg 271; auxiliary wheel 272; angle sensor 28; housing 281; sensor array 282; sensor group 2820; first sensor 2821; second sensor 2822; slide 283; first electrode 2831; second electrode 2832; first center of mass 301; second center of mass 302; virtual plane 303. DETAILED DESCRIPTION

[0017] Please refer to the attached Figure 1-3An embodiment of the present invention provides a land-air amphibious robot, including a main frame 100 and a flying component 10 and a land running component 20 arranged on the main frame 100.

[0018] The flight component 10 is arranged above the main frame 100, and includes a plurality of rotor components, which are used to enable the land-air amphibious robot to be in a flying state. More specifically, the flight component 10 can enable the land-air amphibious robot to fly vertically or horizontally, that is, the land-air amphibious robot is in 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, but the land-air amphibious robot should at least have a vertical flight state or a horizontal flight state.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] In the present embodiment, the left driving assembly 201 includes a land-running device 26 for enabling the land-air amphibious robot to move on the ground and a connecting rod assembly for adjusting the position of the land-running device 26. 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 the present 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 through the land-running motor 261.

[0023] 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 brackets, so that the main frame 100 and the side brackets 21 form an inverted U-shape, and the two are arranged to form a hollow space. The left drive component 201 and the right drive component 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 elaborated here.

[0024] The connecting rod assembly includes a first drive motor 211 and a second drive motor 212 arranged on the side bracket 21, a first upper connecting rod 22 connected to the first drive motor 211, a first lower connecting rod 23 pivotally connected to the first upper connecting rod 22, a second upper connecting rod 24 connected to the second drive motor 212, and a second lower connecting rod 25 pivotally connected to the second upper connecting rod 24. The land running device 26 is pivotally connected to the end of the first lower connecting rod 23 and to the end of the second lower connecting rod 25. It can be understood that in this embodiment, the side bracket 21, the first upper connecting rod 22, the first lower connecting rod 23, the second upper connecting rod 24 and the second lower connecting rod 25 form a five-link structure. By driving the first drive motor 211 and the second drive motor 212, the land running device 26 is in different positions. Figure 2 In 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 land walking device 26 moves downward, that is, the land walking device 26 extends downward; 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 land walking device 26 moves upward, that is, the land walking device 26 contracts upward. It can be understood that by making the land walking device 26 in different positions in the vertical direction, the land-air amphibious robot can adapt to different movement forms. For example, during flight, the land walking device 26 can move upward to reduce the wind-exposed area and reduce flight resistance.

[0025] The land-air amphibious robot includes a first center of mass 301, and the land-traveling device 26 includes a second center of mass 302. The first center of mass 301 and a pair of second centers of mass 302 define a virtual plane 303, and when the land-air amphibious robot is in a vertical flight state or a horizontal flight state, the virtual plane 303 is roughly in a vertical state.

[0026] For more details, please refer to Figure 7 ,exist Figure 7, the state of the amphibious robot in horizontal flight is shown in FIG. 1 . When the amphibious robot in horizontal flight is in the state of horizontal flight, the amphibious robot needs to be in an inclined state so that the thrust generated by the flight assembly 10 has a vertical downward component and a horizontal component, so that the amphibious robot can fly in a predetermined direction after overcoming the gravity. At the same time, in this posture, the land-traveling device 26 located at the lower side of the first mass center 301 has a restoring torque under the gravity, so that the amphibious robot needs more thrust to maintain the inclined posture. In this case, the righting torque of the land-based device 26 affects the horizontal flight stability on the one hand, and increases the flight energy consumption on the other hand. When the first center of mass 301 and a pair of second centers of mass 302 define a virtual plane 303, and the virtual plane 303 is roughly in a vertical state, the righting torque formed by the land-based device 26 is 0, so that the land-air amphibious robot can fly more smoothly and reduce energy consumption. The roughly vertical state means that the angle between the virtual plane 303 and the vertical plane in the vertical direction is -5° to 5°.

[0027] It can be understood that when the amphibious robot is in a vertical flight state, the virtual plane 303 should also be roughly vertical.

[0028] It can be understood that the land-air amphibious robot is configured such that when the flight state changes, the second center of mass 302 changes accordingly, and the virtual plane 303 defined by the first center of mass 301 and a pair of the second center of mass 302 is kept in a substantially vertical state. Specifically, the first upper link 22, the first lower link 23, the second upper link 24, and the second lower link 25 can be moved by rotating the first drive motor 211 and the second drive motor 212, so that the position of the land-running device 26 located at the end of the first lower link 23 and the second lower link 25 changes, thereby adjusting the second The position of the center of mass 302. In a specific embodiment, when the land-air amphibious robot changes from a vertical flight state to a horizontal flight state, the land-air amphibious robot needs to rotate clockwise in the vertical direction to be in a tilted state. In this process, the first drive motor 211 and the second drive motor 212 both rotate counterclockwise, so that the position of the land-traveling device 26 rotates and moves forward in the counterclockwise direction, so that the position of the second center of mass 302 moves forward, and the virtual plane 303 defined by the first center of mass 301 and a pair of the second centers of mass 302 remains in a roughly vertical state.

[0029] In further research, it was found that when the land-air amphibious robot is configured so that when the flight state changes, the second center of mass 302 changes accordingly, and at the same time, the first center of mass 301 and a pair of virtual planes 303 defined by the second center of mass 302 are kept in a roughly vertical state, the stability of the land-air amphibious robot during posture changes can be further improved. Furthermore, when the second center of mass 302 changes accordingly, the movement direction of the second center of mass 302 should be opposite to the movement direction of the land-air amphibious robot body. More specifically, when the land-air amphibious robot changes from a vertical flight state to a horizontal flight state, the land-air amphibious robot body needs to rotate clockwise in the vertical direction to be in a tilted state. In this process, the land-air The amphibious robot has a clockwise moment of inertia, which usually causes the land-air amphibious robot to swing in the vertical direction, or further corrects the posture of the land-air amphibious robot. When the second center of mass 302 rotates in the counterclockwise direction, it can directly balance the moment of inertia of the land-air amphibious robot during the posture change process, so that the land-air amphibious robot maintains stability during the posture change process. Similarly, when the land-air amphibious robot changes from a horizontal flight state to a vertical flight state, the second center of mass 302 changes accordingly and keeps the first center of mass 301 and a pair of virtual planes 303 defined by the second center of mass 302 in a roughly vertical state, so as to balance the moment of inertia during the posture change process, thereby maintaining stability.

[0030] It can be understood that the position of the first center of mass 301 of the land-air amphibious robot is limited by the shape and weight of the land-air amphibious robot. When the position of the second center of mass 302 changes with the flight state, the position of the second center of mass 302 should be controlled more accurately. In this embodiment, the land-air amphibious robot also includes a control device to determine the position of the second center of mass 302. The control device includes an angle sensor 28 arranged between the first upper link 22 and the first lower link 23. It can be understood that an angle sensor is also arranged between the second upper link 24 and the second lower link 25. The first angle information between the first upper link 22 and the first lower link 23 is obtained by the angle sensor 28, and the second angle information between the second upper link 24 and the second lower link 25 is obtained by another angle sensor, thereby determining the position of the land device 26 and the second center of mass 302.

[0031] Please refer to Figures 4 to 6 ,exist Figures 4 to 6The structure of the angle sensor 28 is shown in the figure. The angle sensor 28 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 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.

[0032] The angle sensor 28 includes a sleeved shell 281 and a sensor array 282, wherein the shell 281 is in a tubular shape, including 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] Furthermore, the connecting rod assembly is controlled by a VMC control algorithm to adjust the position of the land vehicle. Specifically, a virtual model control (VMC) is used to generate a virtual force and a virtual moment using a spring-damper assembly, wherein the virtual force is calculated according to the following formula: F y =k y (Δh)+d y y The virtual torque is given by the following formula: Tx=k θ (Δθ)+d y θ Then, through Simulink simulation, it is used to optimize the elastic coefficient , and the damping coefficient , .

[0044] In addition, for the nonlinear situation where the center of mass height changes due to the connecting rod assembly adjusting the position of the land device, the interval interpolation method is used to divide the center of mass height into three intervals. Different LQR feedback parameters are used in different intervals, and the same parameters are used in the same interval to ensure that the robot can achieve good control effects at all heights.

[0045] Furthermore, the motion of the land vehicle is controlled by the LQR control algorithm. Specifically, the state space model is designed: the wheeled motion of the robot is modeled as a two-wheel inverted pendulum, and its state space expression is obtained by linearizing the dynamic equations. The controller based on the LQR control algorithm is designed: by configuring the feedback matrix , introduce the cost function:

[0046] Optimize system performance.

[0047] Then Simulink simulation is used to adjust the feedback matrix parameters , verify the stability and performance of the control system.

[0048] 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, and is used to put the land-air amphibious robot in a vertical flight state or a horizontal flight state; The land-moving assembly is arranged below the main frame and includes a pair of driving assemblies, each of which includes a land-moving device for making the land-air amphibious robot move on the ground and a connecting rod assembly for adjusting the position of the land-moving device; The land-air amphibious robot includes a first center of mass, and the land-running device includes a second center of mass. The first center of mass and a pair of second centers of mass define a virtual plane, and when the land-air amphibious robot is in a vertical flight state or a horizontal flight state, the connecting rod assembly adjusts the position of the land-running device so that the virtual plane is roughly in a vertical state.

2. The land-air amphibious robot according to claim 1, characterized in that: The land-air amphibious robot is configured such that when the flight state changes, the connecting rod assembly adjusts the position of the land-based device so that the second center of mass changes accordingly.

3. The land-air amphibious robot according to claim 2, characterized in that: When the second mass center changes accordingly, the movement direction of the second mass center is opposite to the movement direction of the body of the land-air amphibious robot.

4. The land-air amphibious robot according to claim 3, characterized in that: The connecting rod assembly includes a first drive motor, a second drive motor and a first upper connecting rod connected to the first drive motor, a first lower connecting rod pivotally connected to the first upper connecting rod, a second upper connecting rod connected to the second drive motor, and a second lower connecting rod pivotally connected to the second upper connecting rod. The land-traveling device is pivotally connected to the end of the first lower connecting rod and to the end of the second lower connecting rod. The first drive motor and the second drive motor are arranged on a side bracket. The side bracket, the first upper connecting rod, the first lower connecting rod, the second upper connecting rod and the second lower connecting rod form a five-connecting rod structure.

5. The land-air amphibious robot according to claim 4, characterized in that: The land-air amphibious robot also includes a control device to determine the position of the second center of mass. The control device includes an angle sensor arranged between the first upper connecting rod and the first lower connecting rod, and between the second upper connecting rod and the second lower connecting rod. The angle sensor is a friction electric sensor.

6. The land-air amphibious robot according to claim 5, characterized in that: The angle sensor includes a sleeved 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 along the circumference of the outer side of the substrate, 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.

7. The land-air amphibious robot according to claim 6, 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.

8. The amphibious robot according to claim 7, 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.

9. The land-air amphibious robot according to claim 3, 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.

10. The amphibious robot according to claim 1, characterized in that: The linkage assembly adjusts the position of the land vehicle through the VMC control algorithm.

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