A six-rod tensegrity structure-based amphibious detector

Abstract

The present invention provides an amphibious detector based on a six-rod tensegrity structure. The tensegrity structure of the detector is composed of six carbon fiber rods, twenty-four Kevlar ropes and twelve joints, forming a main structure with high robustness and anti-collision performance. The sealed cabin system consists of a buoyancy cabin, a gravity cabin and a central cabin sandwiched between the two. The buoyancy cabin adopts a closed hollow structure and has a large buoyancy; the gravity cabin is a hollow structure with holes, water can enter the cabin, and the buoyancy is relatively small. In the water, the buoyancy cabin is located on the upper layer and the gravity cabin is located on the lower layer. This layout is used to adjust the underwater posture of the detector. The quadrotor system distributes power by changing the speed of the four motors and outputs different torques to achieve multiple motion modes such as gliding on land, flying in the air and swimming underwater.

Description

Technical Field

[0001] The present invention relates to the field of detector technology, and in particular to an amphibious, land, and air anti-collision tensegrity unmanned flying detector, which is applicable to the fields of detector technology, industrial inspection, and post-disaster rescue. Background Art

[0002] In the field of unmanned detection technology, the functions of traditional unmanned aerial detectors are relatively simple, mainly limited to air flight, and lack anti-collision performance. They cannot perform tasks underwater and have very limited adaptability to complex environmental changes. With the gradual popularization of this technology, the problem of single detection field has become increasingly prominent. It is only applicable to free space without obstacles, lacks amphibious detection capabilities on land, sea and air, and is difficult to meet the needs of efficient detection.

[0003] The unmanned aerial detectors currently on the market have the following problems:

[0004] (1) Lack of cross-media operation capability: The inability to switch freely between different media such as water, land and air severely limits its application scope. For example, when conducting marine environmental monitoring, it is impossible to directly enter the water from the air for detection, and special underwater detection equipment must be replaced, which not only increases the operation cost, but also prolongs the operation time.

[0005] (2) Poor anti-collision performance: The structural design lacks an elastic buffer mechanism, which can easily damage internal components when encountering a collision, causing the detector to fail.

[0006] (3) High manufacturing cost: The complex structural design and the use of high-end components make the manufacturing cost high, which is not conducive to large-scale promotion and application.

[0007] (4) Excessive size and weight: The bulky body not only reduces energy efficiency, but also limits its ability to operate in small spaces. For example, it is difficult to operate flexibly in densely populated urban areas or narrow pipes.

[0008] (5) Lack of reliability and stability: Due to the limitations of structure and system design, failures are prone to occur in complex environments, affecting the continuity of detection tasks. For example, in harsh environments such as strong winds and turbulent water, it is difficult to maintain a stable flight attitude, and the accuracy of data collection is reduced.

[0009] (6) Poor maintainability: The internal structure is complex, the parts have low universality, maintenance is difficult and costly, and once a failure occurs, the maintenance cycle is long, which reduces the efficiency of equipment use.

[0010] (7) Low energy efficiency: It is unable to slide and detect on land and can only fly close to the ground, resulting in energy waste.

[0011] As the demands for detection missions in modern society become increasingly diverse and complex, the market urgently needs an unmanned aerial probe that can adapt to operations in unstructured environments, has passive adaptability to the external environment, and can conduct amphibious detection on land, sea and air in complex terrain. Summary of the invention

[0012] The present invention aims to design a new type of unmanned aerial probe based on a six-bar tensegrity structure, integrating a sealed cabin system, a quad-rotor system and a control power system. The probe not only has excellent anti-collision performance, but also can achieve air flight, ground gliding and underwater diving, and adapt to the complex amphibious environment of land, water and air; at the same time, the probe adopts a miniaturized and lightweight design. In summary, the probe effectively solves many problems existing in existing probes, such as lack of cross-media capability, poor anti-collision performance, complex structure, high cost, large size and weight, weak environmental adaptability, difficult maintenance, and insufficient reliability and stability, etc., and has significant application value.

[0013] In order to realize the above technical solution, the present invention adopts the following technical solution:

[0014] An amphibious detector based on a six-rod tensegrity structure, characterized by comprising:

[0015] A skeleton structure, comprising a plurality of rod member groups and cable member groups, wherein each rod member group comprises two rod members arranged oppositely and in parallel, and the number of rod member groups is at least three;

[0016] The end of each rod member is connected to the ends of other adjacent rod members through the cable member to form two diagonal triangles;

[0017] A quadrotor system, wherein the quadrotor system is disposed on the rod member and fixedly connected to the rod member;

[0018] A sealed cabin is arranged in the hollow interior of the skeleton structure and is fixedly connected to the skeleton structure.

[0019] Preferably, each rod component of the present invention comprises a basic unit formed by connecting carbon fiber rods and joints, and joints are respectively provided at both ends of the carbon fiber rods; six basic units constitute a six-rod tensegrity skeleton.

[0020] Preferably, each joint at the end of the carbon fiber rod of the present invention further leads to a combined elastic rope formed by four Kevlar ropes and springs, and the four combined elastic ropes at each end point are respectively connected to the four end points closest to the end point to form a tensioning network.

[0021] Preferably, the quad-rotor system of the present invention includes four motors, four pipe clamps, four rotors, and four gaskets; each motor is located on one of the carbon fiber rods; the motor is connected to the gasket via screws, and the gasket is connected to the pipe clamp located on the carbon fiber rod via studs; a rotor is arranged at the output end of each motor.

[0022] Preferably, the sealed cabin of the present invention includes a central cabin body located in the middle, and a gravity cabin and a buoyancy cabin are respectively arranged at both ends of the central cabin body in the length direction, and the outer periphery of the central cabin body in the length direction is wrapped with an acrylic tube, and the two ends of the acrylic tube are respectively connected to one end of the gravity cabin and the buoyancy cabin; the other ends of the gravity cabin and the buoyancy cabin are connected to an assembly gasket connected to the carbon fiber rod.

[0023] Preferably, the central cabin of the present invention includes a base plate located at the upper layer, which is used to carry the flight control and the GPS; a flight control limit plate for limiting the flight control and a GPS limit plate for limiting the GPS component are respectively arranged on the base plate, and the flight control is parallel to the base plate and the flight control limit plate;

[0024] The lower part of the base plate is provided with a first cabin for carrying a receiver and a data transmission module, and a second cabin for carrying a four-in-one electric regulator. The first cabin and the second cabin share a common side panel, on which openings are provided for the antennas of the receiver and the data transmission module to pass through. Insertion ends are provided at both ends of the base plate for inserting into the gravity cabin and the buoyancy cabin.

[0025] Preferably, the gravity cabin of the present invention comprises a gravity cabin inner cover and a gravity cabin outer cover, a first slide rail for rotational locking is arranged between the gravity cabin inner cover and the gravity cabin outer cover, and a first resin layer is arranged on the periphery of the first slide rail; a first opening for passing the motor line is arranged on the gravity cabin inner cover; a first waterproof O-ring groove is arranged on one end of the gravity cabin inner cover away from the gravity cabin outer cover, and the first waterproof O-ring groove cooperates with the acrylic tube;

[0026] A first raised limiter for carrying a drone camera and an optical flow sensor is provided on the inner cover of the gravity cabin.

[0027] Preferably, the buoyancy chamber of the present invention includes a buoyancy chamber inner cover and a buoyancy chamber outer cover, a second slide rail for rotational locking is arranged between the buoyancy chamber inner cover and the buoyancy chamber outer cover, and a second resin layer is arranged on the outer periphery of the second slide rail; a second opening for passing the motor wire is arranged on the buoyancy chamber inner cover; a cavity exists on the buoyancy chamber outer cover; a second waterproof O-ring groove is arranged on the end of the buoyancy chamber inner cover away from the buoyancy chamber outer cover, and the second waterproof O-ring groove cooperates with the acrylic tube; a second protrusion limiter is arranged at the buoyancy chamber inner cover.

[0028] Preferably, the inner wall of the acrylic tube of the present invention is provided with a support ring fixed by an adhesive, wherein the support ring comprises a circular ring and a circular protrusion located on the inner wall of the circular ring, and the diameter of the circular ring is consistent with the inner diameter of the acrylic tube;

[0029] The circular ring and the protrusion of the circular ring are connected to the base plate, which support the base plate of the central cabin. When the sealed cabin is disassembled, the circular ring and the protrusion of the circular ring form a guide rail to guide the base plate of the central cabin. A wide groove is provided on the protrusion of the circular ring. The connection between the circular ring and the protrusion of the circular ring adopts a hollow design.

[0030] Preferably, the gravity cabin outer cover and the buoyancy cabin outer cover of the present invention are respectively provided with horizontal semicircular grooves in the middle, and two rows and three columns of screw holes are evenly and symmetrically distributed on the upper and lower sides of the horizontal semicircular grooves for connection with assembly gaskets; the assembly gasket includes a gasket for connecting the gravity cabin outer cover and the buoyancy cabin, and a positioning plate for positioning the motor.

[0031] Since the 21st century, the development prospects and market demand of water-air cross-medium detectors (HAAV) have attracted much attention. The demand for air-water amphibious robots in the military and civilian fields is growing. HAAV integrates the movement capabilities of aerial vehicles and underwater vehicles, and faces huge development opportunities. The present invention is based on a six-bar tensegrity structure, combined with a sealed cabin system, a four-rotor system and a control power system to design a new type of amphibious detector for water, land and air. The structure gives the detector excellent elastic recovery and anti-collision performance, ensuring stable operation in complex environments; the sealed cabin system protects internal components and realizes seamless switching between water and land; the four-rotor system provides stability and maneuverability in the air, enabling it to perform a variety of tasks. This innovative design combines multiple technical advantages and has become a new direction for the development of unmanned detection technology.

[0032] The six-rod tensegrity structure gives the unmanned aerial probe excellent elastic recovery and anti-collision performance, ensuring stable operation in complex environments. Combined with the sealed cabin system, it protects internal components and allows the probe to operate underwater for a long time, achieving seamless switching between land and water. The quadrotor system provides air stability and maneuverability, allowing the probe to perform tasks such as take-off and landing, hovering and rapid movement, while maintaining stability when gliding on the ground. The combination of these two systems with the tensegrity structure enhances the probe's versatility and environmental adaptability, enabling it to play a key role in a variety of application scenarios.

[0033] In view of the defects of traditional unmanned aerial probes such as lack of cross-media capability and poor anti-collision performance, complex structure, high cost, relatively large size, relatively heavy weight, inability to adapt to complex environments, poor maintainability, and insufficient reliability and stability, the present invention proposes to design an amphibious probe based on a six-rod tensegrity structure.

[0034] Compared with the prior art, the amphibious unmanned aerial detector of the present invention is based on the design of a six-rod tensegrity structure, a waterproof cabin system, a four-rotor system, and a control power system. This design distinguishes it from the rigid detectors on the market that can only operate in a single environment (such as only in the air or only on land). The amphibious detector of the present invention can realize autonomous water-air cross-medium processes without additional modification, and can operate in narrow or complex spaces such as underwater, on land and in the air, which is difficult for traditional detectors to achieve. The power is provided by the motor-driven rotor, and the control part is concentrated on the key parts of the detector, making the detector lighter and more flexible. The characteristics of the six-rod tensegrity structure detector are adapted to the operating requirements of different environments. The main material of the present invention is a lightweight composite material, which is lighter than traditional detectors, with significantly reduced costs, and can be mass-produced.

[0035] 1. The control part of the unmanned flying probe of the present invention is connected to the six-bar tensegrity structure part. The motor of the control part is connected to the six-bar tensegrity structure part by changing the speed to provide torque, thereby realizing the probe to fly in the air, glide on land, and swim underwater. The structure ensures that the probe is lightweight and anti-collision, and the probe is driven by a set of driving systems to achieve amphibious movement, with low energy consumption and high economic benefits.

[0036] 2. The unmanned aerial probe of the present invention has a sealed cabin system, flight control, GPS system, etc. installed in the center of the six-rod tensegrity structure, so that it has the ability to swim underwater.

[0037] 3. The driving part of the unmanned aerial probe of the present invention is driven by a four-rotor power system, which can realize swimming in water, gliding on land and flying in the air. It has fewer rotors and saves more energy.

[0038] 4. The connector and sealed cabin system of the unmanned aerial probe of the present invention can be disassembled and are made of ABS material, which has a low cost.

[0039] 5. The flight control fixing frame of the cabin of the unmanned aerial probe of the present invention is a retractable structure, which is easy to disassemble.

[0040] 6. The sealed cabin system of the unmanned aerial probe of the present invention can change its size according to the size of the probe, thereby flexibly adjusting the buoyancy and adapting to different models of six-rod probes.

[0041] 7. The parts of the unmanned aerial probe of the present invention are composed of 3D printed materials, carbon fiber rods, and Kevlar ropes, which are highly detachable and easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the new specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the new invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 It is the overall appearance structure diagram of the detector of the present invention.

[0044] Figure 2 It is a schematic diagram of the six-rod tensegrity structure of the present invention.

[0045] Figure 3 It is a schematic diagram of the components of the quadrotor system of the present invention and their installation relationship with the six-rod tensegrity structure.

[0046] Figure 4 It is an exploded view of the sealed cabin of the present invention.

[0047] Figure 5 It is a side view of the sealed cabin of the present invention.

[0048] Figure 6 It is a cross-sectional view of the sealed cabin of the present invention. DETAILED DESCRIPTION

[0049] The technical scheme of the new invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the new invention, not all of them. Based on the embodiments of the new invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the new invention.

[0050] The present invention relates to an unmanned aerial probe with amphibious capabilities in water, land and air. The probe adopts a unique six-rod tensegrity structural design, which can absorb impact force and reduce internal damage when subjected to a collision, while maintaining the reconfigurability of movement and flexibly adjusting the movement mode according to mission requirements. It has high robustness and excellent anti-collision performance. By being equipped with a four-rotor system, a sealed cabin system and a control power system, the probe can maintain a stable structure and efficient movement performance in three different environments: underwater, on land and in the air.

[0051] The control power system integrates PX4 flight control, gyroscope, optical flow sensor, buzzer, safety switch, receiver and other sensors to ensure the safe operation of the detector in complex environments. The various sensors on board work together to collect multiple parameters and information of the detector's environment in real time, providing rich data support for the detection mission.

[0052] The underwater detection capability of the detector enables it to perform underwater structure inspection of offshore wind power. The gliding ability on land can adapt to changeable terrain for ground inspection and post-disaster search and rescue. The air flight capability is used for aerial reconnaissance and environmental monitoring. The four-rotor drive system carried enables the detector to complete the water-to-air cross-medium process at the same time without modification. It can provide driving force for the detector both in the air and underwater. The sealed cabin system can protect the internal components to operate safely and stably in the water-air multi-media environment, enabling the detector to achieve amphibious operation on land, sea and air. In summary, the amphibious detector of the present invention, with its excellent environmental adaptability and versatility, has brought a new type of efficient and reliable detection tool to the field of unmanned detection.

[0053] The unmanned aerial probe of the present invention can adapt to changes in water, land and air, has the characteristics of being small and lightweight, absorbs strong impact force through deformation, can restore its own configuration from different directions after landing, provides good mobility through structural deformation, and has strong environmental robustness. At the same time, the unmanned aerial probe can transmit detected images, air quality, geological conditions, real-time location information and other data in real time, so that rescue personnel and scientific researchers can quickly determine the location and surrounding environment, and has high application value.

[0054] like Figure 1 As shown, the overall appearance structure of the detector of the present invention is demonstrated, including the positional relationship of main components such as the six-rod tensegrity structure, the four-rotor system, and the sealed cabin system.

[0055] The six-rod tensegrity structure of the present invention has a structural design with many advantages. It combines a variety of high-performance materials to achieve the goals of lightweight and anti-collision. It consists of six carbon fiber rods, forty-eight Kevlar cables, twenty-four springs, and twelve 3D-printed special joints. The carbon fiber rods have the characteristics of high strength and light weight; the Kevlar ropes have the characteristics of high strength, light weight, wear resistance and cutting resistance; the springs use high elastic coefficients to ensure the anti-collision performance of the detector while reducing the resonance formed during movement; the joints are made of ABS material, making the joints lighter and higher in strength.

[0056] like Figure 2 As shown, local details of the six-rod tensegrity structure of the present invention are shown, showing the rod and cable connection method of the structure, as well as the joint design.

[0057] The design principle of the six-bar tensegrity structure of the present invention is to connect the two ends of a carbon fiber rod 101 with the first joint 102 and the second joint 103 to form a basic unit. Subsequently, six basic units are used to form a six-bar tensegrity skeleton. In this structure, both ends of the spring 104 are connected to the Kevlar ropes 105 and 106 to form a combined elastic cable. The two ends of the carbon fiber rod 107 are connected to the joints respectively, and each joint leads to a combined elastic cable formed by four Kevlar ropes and springs. The four combined elastic cables of each end are respectively connected to the four ends closest to the end to form a complex tensegrity network. In terms of spatial position, the relative rods of the carbon fiber rod 101 and the carbon fiber rod 107 are parallel to each other, and the two rods form a plane that is perpendicular to the other two planes formed by similar rods, such as the plane formed by the rod 101 and the rod 107 and the plane formed by the rod 108 and the rod 109, so that the six-bar tensegrity structure is formed. This structural design has the characteristics of anti-collision, high robustness and light weight. Due to its lightweight characteristics, the skeleton has little impact on the endurance of the detector. This six-bar tensegrity frame design not only improves the safety and durability of the detector, but also provides new possibilities for the design and manufacture of the detector, with high economic value.

[0058] The installation steps of the six-bar tensegrity structure of the present invention are as follows:

[0059] 1. Install the joints: Use special 3D printed joints, which are the key connection points of the structure. Align and position the joints precisely to ensure that each joint is firmly connected to the carbon fiber rod. This step is the basis for the stability of the entire structure, so special attention needs to be paid to the alignment and tightening of the joints.

[0060] 2. Connect springs and Kevlar cables: Connect the twenty-four springs to the forty-eight Kevlar cables to form a combined elastic cable. These elastic cables not only provide the necessary tension to maintain the stability of the structure, but also give the structure a certain elasticity so that it can adapt to different loads and environmental changes. Pay attention to the connection process to ensure that the connection between each spring and Kevlar cable is firm and uniform to prevent it from falling off during a collision.

[0061] 3. Combined elastic cables and joints: At each joint, use knots to tie the four Kevlar ropes and springs to form a combined elastic cable. The elastic cable is drawn out from each joint hole and connected to the four joints closest to the end point. At the same time, to ensure that the elastic cables are the same length, this step requires precise operation to ensure that each connection point can evenly distribute the tension and form a stable six-bar tensegrity structure. During the connection process, check the tension of each elastic cable to ensure that the tension is consistent to maintain the best performance of the structure.

[0062] The present invention adopts 3D printed joints made of ABS. Figure 2 As shown in the third joint 110, a top through hole design is adopted, which is not only innovative in structure, but also provides significant advantages in functionality. A hollow cylinder is formed inside the joint and aligned with the hollow cylinder inside the carbon fiber rod in a straight line. This design not only effectively reduces the flight resistance of the detector, but also makes it easier for water to enter the carbon fiber rod through the joint when the detector enters underwater, thereby accelerating the entry into the water and reducing buoyancy, which is beneficial to underwater operations or emergency entry of the detector.

[0063] like Figure 3 As shown, the components of the quad-rotor system of the present invention and their installation relationship with the six-rod tensegrity structure are demonstrated.

[0064] The quad-rotor system of the present invention is a core component in the detector design, which is composed of four motors, four pipe clamps, four rotors, and four carbon fiber gaskets. The motor 111 and the motor 112 are symmetrical about the surface formed by the carbon fiber rod 101 and the carbon fiber rod 107, and the motor 111 and the motor 112 are symmetrical about the surface formed by the carbon fiber rod 120 and the carbon fiber rod 121 with the motor 113 and the motor 114. This symmetrical layout helps to maintain the balance of the detector and the uniform distribution of lift. The pipe clamps 115 and 116 are fixed on the carbon fiber rod and then connected to the carbon fiber gasket 117 through the studs, and the gasket is connected to the motor through the screws, so as to clamp the motor. When the pipe clamp is not locked, it can move freely on the carbon fiber rod, and the motor is accurately limited by assembling the gasket 118. This flexibility allows the motor position to be fine-tuned during the assembly process to ensure the symmetry and accuracy of the quad-rotor system, and also ensure the stability of the lift system. The combination of the motor and the rotor 119 provides the necessary lift for the detector, provides the overall lift of the detector, and enables the detector to glide, swim, and fly. Each motor works closely with the rotor. Through precise speed control and power output, the detector can perform complex maneuvers in the air, water, and land, such as vertical take-off and landing, hovering, moving forward, backward, turning left and right, as well as gliding and swimming. The design of this lift system not only ensures the efficiency of the detector's movement, but also enhances its adaptability and flexibility in complex environments.

[0065] like Figure 4 As shown, an exploded view of the sealed cabin of the present invention is shown, indicating the positions of various components, as well as the installation positions of the flight control and sensors.

[0066] The detachable sealed cabin of the present invention includes a central cabin body located in the middle, and a gravity cabin 215 and a buoyancy cabin 219 are respectively arranged at both ends of the central cabin body in the length direction, and the outer periphery of the central cabin body in the length direction is wrapped with an acrylic tube 236, and the two ends of the acrylic tube 236 are respectively connected to one end of the gravity cabin 215 and the buoyancy cabin 219; the other ends of the gravity cabin 215 and the buoyancy cabin 219 are connected to an assembly gasket 235 connected to the carbon fiber rod.

[0067] like Figure 5 , Figure 6 As shown, a side view and a cross-sectional view of the sealed cabin of the present invention are respectively shown, showing the composition structure of the sealed cabin.

[0068] like Figure 5 As shown, the substrate 201 of the present invention is the core component of the central cabin, which is integrally formed by 3D printing and has a double-layer design. It is mainly used to carry the detector electronic system. The PX4 flight control is placed in this position, and a GPS is carried behind it to ensure the positioning function of the drone. A flight control limit plate 202 is set to limit the flight control to prevent it from being displaced during the operation of the detector, and to ensure that the flight control is level with respect to the substrate 201, and the flight control points are parallel to the central cabin substrate 201 and the flight control limit plate 202 to ensure stable operation of the detector; a GPS limit plate 203 is set to limit the GPS component to prevent it from being displaced during the operation of the detector. The function of the cabin 205 is to carry the receiver and the data transmission module to limit the displacement of the receiver and the data transmission module during the operation of the detector. The side plate 206 is opened for the receiver and the antenna of the data transmission module to pass through, ensuring the integrity of the receiver and the data transmission module structure, and cooperating with the cabin 205 to limit the receiver and the data transmission module; the cabin 207 and the lower main cabin share the side plate, and the end is connected to the upper cabin with a columnar structure, which is used to carry the four-in-one electric adjustment, limit the displacement of the four-in-one electric adjustment during the operation of the detector, and prevent the four-in-one electric adjustment from being squeezed or contacting other components. The battery is fixed under the cabin 207, shortening the distance from the four-in-one electric adjustment, close to the edge of the substrate 201, convenient for wiring and combing wires, shortening the required wire length, reducing voltage loss, and reducing the probability of battery line damage.

[0069] like Figure 5 , Figure 6 As shown, the substrate 201 of the present invention is provided with a front slot 204, a rear slot 205, and a wire management plate 208, which are used to store wires and facilitate the arrangement of wires to avoid safety problems caused by wire entanglement during the operation of the detector, and to avoid installation difficulties caused by scattered wires when disassembling and assembling the substrate 201; a reserved space 230 is reserved under the lower main cabin, which can be used to carry payloads and achieve diversified functions with different sensor kits to meet the needs of multi-dimensional and all-round detection across media.

[0070] like Figure 5 As shown, the gravity cabin 215 of the present invention is composed of a gravity cabin inner cover 212 and a gravity cabin outer cover 216. A rotatable first slide rail is connected between the gravity cabin inner cover 212 and the gravity cabin outer cover 216, and can be rotated and locked. The motor line passes through the first opening hole 217. There is a first opening hole 217 between the gravity cabin inner cover 212 and the gravity cabin outer cover 216. Figure 5 The first resin layer 218 of the first opening 217 for the motor threading achieves a waterproof effect; the outer cover of the gravity cabin has a buoyancy cabin 219, and the outer side of the buoyancy cabin is hollowed out. When water enters the underwater gravity cabin 215, the center of gravity of the entire detector moves downward, which has the effect of adjusting the underwater movement posture of the detector; the inner cover 212 of the gravity cabin has a first waterproof O-ring groove 214. After the O-ring is inserted, the O-ring and the acrylic tube 236 are assembled to produce extrusion and isolate water to achieve a waterproof effect. The inner cover of the gravity cabin is provided with a raised limit 236, which is used to limit the movement of the acrylic tube, so that the installation position of the acrylic tube and the inner cover 212 of the gravity cabin is relatively fixed, and a drone camera and an optical flow sensor are installed at the position 236 to ensure the real-time obstacle avoidance function of the drone and realize the autonomous detection function.

[0071] like Figure 5 As shown, the buoyancy chamber 219 of the present invention is composed of a buoyancy chamber inner cover 213 and a buoyancy chamber outer cover 220. The buoyancy chamber inner cover 213 and the buoyancy chamber outer cover 216 are connected by a rotatable second slide rail, which can be rotated and locked. The motor line passes through the second opening 221, and there is a second resin layer 222 between the buoyancy chamber inner cover 213 and the buoyancy chamber outer cover 220, so that the motor threading hole 221 can achieve a waterproof effect. There is a cavity 223 in the buoyancy chamber outer cover, which isolates water and makes the buoyancy center of the entire detector move upward, which has the effect of adjusting the underwater movement posture of the detector; there is a second waterproof O-ring groove 224 in the buoyancy chamber inner cover 213. After the O-ring is inserted, the O-ring and the acrylic tube are assembled to produce squeezed isolation water to achieve a waterproof effect. A raised limiter is provided at the buoyancy chamber inner cover, which is used to limit the movement of the acrylic tube so that the installation position of the acrylic tube and the buoyancy chamber inner cover 213 are relatively fixed.

[0072] like Figure 5 As shown, the plates at both ends of the substrate 201 of the present invention have insertion ends 209, which can be inserted into the grooves 210 on the gravity cabin 212. The gravity cabin 213 on the opposite side has the same design. When the sealed cabin is closed, the substrate is completely inserted into the groove. At this time, the gravity cabin 213, the buoyancy cabin 212 and the central cabin substrate 201 form a whole. When the detector is running, the central cabin substrate 201 is limited. When the sealed cabin is opened, the central cabin substrate is disconnected from the gravity cabin 214 and the buoyancy cabin 213, and the sealed cabin can be easily pulled out, which is convenient for maintaining internal components.

[0073] like Figure 4As shown, the support ring 225 of the present invention is formed by connecting circular rings 226 and 227. The diameter of the support ring is similar to the inner diameter of the acrylic tube, and the support ring can be fixed in the acrylic tube using an adhesive.

[0074] When the acrylic tube is assembled, the protrusions of the ring 226 and the ring 227 are connected to the central cabin substrate 201, supporting the central cabin substrate, reducing the bending moment on the central cabin substrate, and sharing the pressure on the grooves of the gravity cabin and the buoyancy cabin. When disassembling the sealed cabin, the protrusions of the ring 226 and the ring 227 form a similar guide rail structure to guide the pulling of the central cabin substrate 201, so that it can be smoothly taken out of the sealed cabin to avoid collision of components; there is a wide groove 229 above the protrusion, and the widened design can effectively reduce the resistance of disassembling the central cabin substrate and play a certain limiting role; the connection 228 adopts a hollow design to reduce the weight of the support ring, reduce the shielding of the components in the sealed cabin, and make it easy for the operator to observe the working conditions of each component in the detector sealed cabin.

[0075] like Figure 5 As shown, the gravity cabin cover 216 and the buoyancy cabin cover 220 of the present invention are provided with a horizontal semicircular groove 234 in the middle for assembly with the carbon fiber rod. Two rows and three columns of screw holes are evenly and symmetrically distributed on the upper and lower sides of the horizontal semicircular groove 234 for connection with the assembly gasket. The assembly gasket 235 is composed of a gasket 233 for connecting the gravity cabin cover 216 and the buoyancy cabin 220 and a positioning plate 232 for positioning the motor. The gasket 233 is evenly and symmetrically distributed with two rows and three columns of screw holes for connection with the gravity cabin cover 216 and the buoyancy cabin cover 220 using screws.

[0076] The gasket 233 of the present invention is thickened to increase the structural strength, improve the stability of use, and enhance the service life of the gasket under multiple disassembly and assembly. The gasket extends to both sides, and two motor positioning plates 232 are symmetrically distributed. The motor positioning plate 232 has a horizontal panel for motor positioning; thanks to the internal limiting structure of the sealed cabin, the motor positioning plate 232 and the central cabin base plate 201 can be ensured to be located on the same horizontal plane, so that the flight control, GPS module, and brushless waterproof motor are located on the same plane, effectively simplifying the motor positioning, reducing the difficulty of assembling the entire detector, making it easier to maintain in the later stage, and effectively improving the flight stability.

[0077] The assembly gasket 235 of the present invention is made entirely by 3D printing, has a simple structure, excellent durability, good economic benefits, and good maintainability.

[0078] The present invention provides a water-land-air amphibious detector based on a six-bar tensegrity structure. The tensegrity structure of the detector is based on a six-bar tensegrity as a skeleton, and is composed of six carbon fiber rods, twenty-four Kevlar ropes and twelve ABS joints, forming a main structure with high robustness and anti-collision performance. The sealed cabin system consists of a buoyancy cabin, a gravity cabin and a waterproof storage cabin sandwiched between the two. The buoyancy cabin adopts a closed hollow structure and has a large buoyancy; the gravity cabin is a hollow structure with holes, water can enter the cabin, and the buoyancy is relatively small. In the water, the buoyancy cabin is located on the upper layer and the gravity cabin is located on the lower layer. This layout is used to adjust the underwater posture of the detector. The quadrotor system distributes power by changing the speed of the four motors, outputs different torques, and realizes multiple motion modes of the detector, such as gliding on land, flying in the air and swimming underwater. The control power system consists of a PX4 flight controller, gyroscope, optical flow sensor, buzzer, safety switch and receiver, etc. It ensures precise control and stable flight of the probe through efficient management, in line with control theory and dynamics principles.

Claims

1. An amphibious detector based on a six-rod tensegrity structure, characterized in that: include: A skeleton structure, comprising a plurality of rod member groups and cable member groups, wherein each rod member group comprises two rod members arranged oppositely and in parallel, and the number of rod member groups is at least three; The end of each of the rod members is connected to the ends of other adjacent rod members through the cable member to form two diagonal triangles; A quadrotor system, wherein the quadrotor system is disposed on the rod member and fixedly connected to the rod member; A sealed cabin is arranged in the hollow interior of the skeleton structure and is fixedly connected to the skeleton structure.

2. The amphibious detector based on the six-bar tensegrity structure according to claim 1 is characterized in that: Each rod component comprises a basic unit formed by connecting a carbon fiber rod and a joint, and joints are respectively arranged at both ends of the carbon fiber rod; six basic units constitute a six-rod tensegrity skeleton.

3. The amphibious detector based on the six-bar tensegrity structure according to claim 2 is characterized in that: Each joint at the end of the carbon fiber rod leads to a combined elastic cable formed by four Kevlar ropes and springs. The four combined elastic cables at each end are respectively connected to the four end points closest to the end point to form a tensioning network.

4. The amphibious detector based on a six-bar tensegrity structure according to claim 2 is characterized in that: The quadrotor system includes four motors, four pipe clamps, four rotors, and four gaskets; each motor is located on one of the carbon fiber rods; the motor is connected to the gasket through screws, and the gasket is connected to the pipe clamp on the carbon fiber rod through studs; a rotor is arranged at the output end of each motor.

5. The amphibious detector based on a six-bar tensegrity structure according to claim 1 is characterized in that: The sealed cabin includes a central cabin body located in the middle, with a gravity cabin and a buoyancy cabin respectively arranged at both ends of the central cabin body in the length direction, and an acrylic tube wrapped around the outer periphery of the central cabin body in the length direction, and the two ends of the acrylic tube are respectively connected to one end of the gravity cabin and the buoyancy cabin; the other ends of the gravity cabin and the buoyancy cabin are connected to an assembly gasket connected to the carbon fiber rod.

6. The amphibious detector based on a six-bar tensegrity structure according to claim 5 is characterized in that: The central cabin includes a base plate located at the upper layer for carrying the flight control and GPS; a flight control limit plate for limiting the flight control and a GPS limit plate for limiting the GPS component are respectively arranged on the base plate, and the flight control is parallel to the base plate and the flight control limit plate; The lower part of the base plate is provided with a first cabin for carrying a receiver and a data transmission module, and a second cabin for carrying a four-in-one electric regulator. The first cabin and the second cabin share a common side panel, on which openings are provided for the antennas of the receiver and the data transmission module to pass through. Insertion ends are provided at both ends of the base plate for inserting into the gravity cabin and the buoyancy cabin.

7. The amphibious detector based on a six-bar tensegrity structure according to claim 5 is characterized in that: The gravity cabin comprises a gravity cabin inner cover and a gravity cabin outer cover, a first slide rail for rotational locking is arranged between the gravity cabin inner cover and the gravity cabin outer cover, and a first resin layer is arranged on the periphery of the first slide rail; A first opening for passing the motor line is provided on the inner cover of the gravity cabin; a first waterproof O-ring groove is provided on the end of the inner cover of the gravity cabin away from the outer cover of the gravity cabin, and the first waterproof O-ring groove cooperates with the acrylic tube; A first raised limiter for carrying a drone camera and an optical flow sensor is provided on the inner cover of the gravity cabin.

8. The amphibious detector based on a six-bar tensegrity structure according to claim 5 is characterized in that: The buoyancy chamber includes an inner cover and an outer cover of the buoyancy chamber. A second slide rail for rotational locking is arranged between the inner cover and the outer cover of the buoyancy chamber, and a second resin layer is arranged on the outer periphery of the second slide rail; a second opening for passing the motor line is arranged on the inner cover of the buoyancy chamber; a cavity exists on the outer cover of the buoyancy chamber; a second waterproof O-ring groove is arranged at one end of the inner cover of the buoyancy chamber away from the outer cover of the buoyancy chamber, and the second waterproof O-ring groove cooperates with the acrylic tube; a second protrusion limiter is arranged at the inner cover of the buoyancy chamber.

9. The amphibious detector based on a six-bar tensegrity structure according to claim 5 or 6, characterized in that: The inner wall of the acrylic tube is provided with a support ring fixed by an adhesive, wherein the support ring comprises a circular ring and a circular protrusion located on the inner wall of the circular ring, and the diameter of the circular ring is consistent with the inner diameter of the acrylic tube; The circular ring and the protrusion of the circular ring are connected to the base plate, which support the base plate of the central cabin. When the sealed cabin is disassembled, the circular ring and the protrusion of the circular ring form a guide rail to guide the base plate of the central cabin. A wide groove is provided on the protrusion of the circular ring. The connection between the circular ring and the protrusion of the circular ring adopts a hollow design.

10. The amphibious detector based on a six-rod tensegrity structure according to claim 5 or 6, characterized in that: The gravity cabin outer cover and the buoyancy cabin outer cover are respectively provided with horizontal semicircular grooves in the middle, and two rows and three columns of screw holes are evenly and symmetrically distributed on the upper and lower sides of the horizontal semicircular grooves for connection with assembly gaskets; the assembly gasket includes a gasket for connecting the gravity cabin outer cover and the buoyancy cabin, and a positioning plate for positioning the motor.

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