Cross-medium water and air operation rescue robot and posture switching method

Abstract

The invention provides a cross-medium water and air operation rescue robot and a posture switching method, and relates to the technical field of rescue robots. The cross-medium water-air operation rescue robot comprises a robot body, a propelling unit, an electro-infiltration fin, a communication base station, a detection unit, a main control unit and the like. The underwater rescue robot can sail underwater, cruise on the water surface and fly in the air, can realize switching of a'flight attitude ', a'water surface cruise attitude' and a'underwater submerging attitude ', is flexible and reliable in attitude switching, is suitable for rescue operation conditions of an underground roadway after a water permeation accident occurs, and further realizes underwater, water surface and overwater search rescue operation; a plurality of robots are arranged in a roadway at intervals, and communication base stations between adjacent robots are in wireless communication so as to relay and transmit signals of surrounding environment detected by detection units of all the robots; wherein the robot can float on the water surface for a long time, the robot is in a low-power-consumption standby operation state, and the operation duration of the robot is greatly prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of rescue robots, and more particularly to a cross-media water-air operation rescue robot and an attitude switching method. Background Art

[0002] In recent years, natural disaster accidents have occurred frequently, posing higher requirements for emergency rescue. Traditional rescue equipment has certain limitations in rescue operations. Based on this, with the continuous development of robot technology, various types of rescue robots have emerged, such as fish-like robots used for searching underwater targets.

[0003] In the field of coal mine accident rescue, when a coal mine water inrush accident occurs, the water accumulation situation in the underground roadway is different. Due to the undulating terrain of the roadway, the water accumulation in the roadway is not necessarily continuous. It is difficult for fish-like robots to conduct search and rescue operations throughout the roadway. Moreover, fish-like robots can only search for underwater targets and are difficult to search for targets on the water surface. In addition, after a water inrush accident occurs, most of the communication base stations arranged in the roadway are also malfunctioning, making it difficult to transmit signals such as images captured by the robot in a timely manner, resulting in a low overall search efficiency and delaying the accident rescue time. Summary of the Invention

[0004] The purpose of the present invention is to provide a cross-media water-air operation rescue robot and an attitude switching method to achieve search and rescue operations underwater, on the water surface, and above the water.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A cross-media water-air operation rescue robot, comprising:

[0007] A fuselage;

[0008] A propulsion unit, arranged at the upper end of the fuselage, for generating a propulsion force towards a set direction;

[0009] Electro-wetting fins, arranged at the upper end of the fuselage and extending around the fuselage; wherein, after the electro-wetting fins come into contact with a liquid, the electro-wetting fins can change the surface tension with the surface of the contacted liquid;

[0010] A communication base station, arranged at the upper end of the fuselage, for realizing wireless communication;

[0011] A detection unit, arranged on the fuselage, for detecting the surrounding environment;

[0012] A main control unit, respectively connected to the propulsion unit, the electro-wetting fins, the communication base station, and the detection unit by signals.

[0013] Further, the electro-wetting fin includes a horizontal fin and a vertical fin arranged in sequence from inside to outside. The horizontal fin is arranged to extend along the horizontal direction, and the vertical fin is arranged to extend along the vertical direction.

[0014] Further, the electro-wetting fin includes a base layer, an electrode layer, an insulating layer, a hydrophobic layer, and an electrode. The base layer is made of an insulating material, the electrode layer is made of a conductive material, the electrode layer is disposed on the outer surface of the base layer, the insulating layer is made of an insulating material, the insulating layer wraps the electrode layer, the electrode layer is powered through the electrode, the hydrophobic layer is made of a hydrophobic material, and the hydrophobic layer wraps the insulating layer;

[0015] After the electro-wetting fin contacts the liquid, an electric current is applied to the electrode layer through the electrode, an electric field is generated between the electrode layer and the surface of the contacted liquid, and by changing the electric field intensity, the contact angle of the surface of the liquid contacting the electro-wetting fin is changed, thereby changing the surface tension of the surface of the liquid contacting the electro-wetting fin.

[0016] Further, it further includes a power supply unit, and the power supply unit is disposed inside the fuselage.

[0017] Further, the power supply unit is configured as a battery and a driving mechanism, and the driving mechanism can drive the battery to reciprocate along the axial direction of the fuselage.

[0018] Further, the driving mechanism includes a slide bar, a lead screw, a driving motor, a slide seat, and a lead nut. The slide bar and the lead screw are both arranged along the axial direction of the fuselage. The output rotating shaft of the driving motor is connected to one end of the lead screw. The slide seat and the lead nut are disposed on the battery. The slide seat is slidably engaged with the slide bar, and the lead nut is engaged with the lead screw.

[0019] Further, the propulsion unit includes a support base, a rotor thruster, and a servo motor. The support base is disposed at the upper end of the fuselage. The rotor thruster is hinged to the support base. The rotor thruster is provided with four, and the four rotor thrusters are arranged at equal intervals along the circumferential direction of the fuselage. The servo motor is used to drive the rotor thruster to swing relative to the support base to a set angle.

[0020] Further, the detection unit is configured as a camera.

[0021] Further, the cameras are respectively arranged at the upper end and the lower end of the fuselage.

[0022] A method for switching the posture of a cross-medium water-air operation, which is applied to the above-mentioned cross-medium water-air operation rescue robot, and the method selectively performs the following posture switching:

[0023] 1. Switch from the flight posture to the water surface cruising posture;

[0024] Keep the battery in the axial position of the fuselage to keep the fuselage vertical. Under the combined action of the vertical component of the propulsion force generated by the propulsion unit and the gravity of the robot, the robot descends from the air to the water surface; after the electro-wetting fins contact the liquid, under the combined action of the gravity of the robot, the buoyancy force on the fuselage, the supporting force generated by the surface tension on the electro-wetting fins, and the buoyancy force on the electro-wetting fins, the robot floats on the water surface; the horizontal component of the propulsion force generated by the propulsion unit drives the robot to cruise on the water surface;

[0025] Second, switch from the water surface cruising attitude to the underwater submerging attitude;

[0026] Reduce the surface tension of the liquid surface in contact with the electro-wetting fins. Under the combined action of the gravity of the robot, the buoyancy force on the fuselage, the supporting force generated by the surface tension on the electro-wetting fins, and the buoyancy force on the electro-wetting fins, the robot sinks underwater; change the position of the battery in the axial direction of the fuselage to make the fuselage horizontal, and the horizontal component of the propulsion force generated by the propulsion unit drives the robot to submerge underwater;

[0027] Third, switch from the underwater submerging attitude to the flight attitude;

[0028] Change the position of the battery in the axial direction of the fuselage to keep the fuselage vertical. Under the combined action of the vertical component of the propulsion force generated by the propulsion unit, the gravity of the robot, and the buoyancy force on the fuselage, the robot rises from underwater into the air; the propulsion force generated by the propulsion unit drives the robot to fly in the air.

[0029] The beneficial technical effects of the present invention are:

[0030] The cross-media water-air operation rescue robot and attitude switching method of the present invention can submerge underwater, cruise on the water surface, and fly in the air, and can realize the switching between the "flight attitude", "water surface cruising attitude" and "underwater submerging attitude". The attitude switching is flexible and reliable, and is suitable for the rescue operation conditions in the underground roadway after a water penetration accident, so as to realize the search and rescue operations underwater, on the water surface and above the water; arrange several robots at intervals in the roadway, and wirelessly communicate with the communication base stations between adjacent robots to relay the signals detected by the detection units of each robot to detect the surrounding environment; among them, after the robot cruises to the set position on the water surface, the propulsion unit is turned off, which can make the robot float on the water surface for a long time, and the robot is in a low-power standby operation state, greatly extending the operation duration of the robot; in addition, when the robot floats on the water surface, the position of the battery in the axial direction of the fuselage can be changed to make the fuselage tilt at different angles, so that the detection unit faces different angles for search and rescue. Description of the Drawings

[0031] Figure 1 For the three-dimensional view of the cross-media water-air operation rescue robot according to the embodiment of the present inventionFigure 1 ;

[0032] Figure 2 is the three - dimensional view of the cross - medium water - air operation rescue robot of the embodiment of the present invention; Figure 2 ;

[0033] Figure 3 is the front view of the cross - medium water - air operation rescue robot of the embodiment of the present invention;

[0034] Figure 4 is the top view of the cross - medium water - air operation rescue robot of the embodiment of the present invention;

[0035] Figure 5 is the bottom view of the cross - medium water - air operation rescue robot of the embodiment of the present invention;

[0036] Figure 6 is the three - dimensional view of the electro - wetting wing of the embodiment of the present invention;

[0037] Figure 7 is the front view of the electro - wetting wing of the embodiment of the present invention;

[0038] Figure 8 is the top view of the electro - wetting wing of the embodiment of the present invention;

[0039] Figure 9 is the structural layout diagram of the electro - wetting wing of the embodiment of the present invention;

[0040] Figure 10 is the sectional three - dimensional view of the fuselage and battery part of the embodiment of the present invention

[0041] Figure 11 is the three - dimensional view of the communication base station and the upper camera of the embodiment of the present invention;

[0042] Figure 12 is the structural schematic diagram of the lower camera of the embodiment of the present invention;

[0043] Figure 13 is the three - dimensional view of the support base of the embodiment of the present invention;

[0044] Figure 14 is the three - dimensional view of the rotor thruster of the embodiment of the present invention;

[0045] Figure 15 is the flow chart of the cross - medium water - air operation attitude switching method of the embodiment of the present invention;

[0046] Reference numerals:

[0047] 1. Body, 21. Support base, 22. Rotor thruster, 221. Annular housing, 222. Propulsion motor, 223. Rotor, 224. Bracket, 23. Servo, 3. Electro-wetting fin, 301. Base layer, 302. Insulating layer, 303. Electrode, 31. Horizontal fin, 32. Vertical fin, 4. Communication base station, 51. Upper camera, 52. Lower camera, 61. Battery, 62. Slide bar, 63. Lead screw. Detailed implementation manners

[0048] To make the objectives, technical solutions and beneficial effects of the present invention clearer and more understandable, the following further describes the present invention in detail with reference to specific embodiments and the accompanying drawings. Some but not all of the embodiments of the present invention will be described more comprehensively with reference to the attached drawings later. In fact, various embodiments of the present invention can be implemented in many different forms and should not be construed as limited to the embodiments described herein; rather, these embodiments are provided so that the present invention meets the applicable legal requirements.

[0049] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "inner", "outer", "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0050] In an embodiment of the present invention, a cross-media water-air operation rescue robot and an attitude switching method are provided. Please refer to Figures 1 to 15 as shown.

[0051] A cross-media water-air operation rescue robot includes a body 1, a propulsion unit, an electro-wetting fin 3, a communication base station 4, a detection unit, a main control unit, etc.

[0052] The body 1 has a hollow structure and the overall outer contour is cylindrical. The power supply unit and the main control unit are arranged inside the body 1.

[0053] The propulsion unit is arranged at the upper end of the body 1 and is used to generate a propulsion force in a set direction.

[0054] The propulsion unit includes a support base 21, a rotor thruster 22, and a servo 23. The support base 21 is disposed at the upper end of the fuselage 1. The rotor thruster 22 is hinged to the support base 21. Four rotor thrusters 22 are provided, and the four rotor thrusters 22 are arranged at equal intervals along the circumference of the fuselage 1. The servo is used to drive the rotor thruster 22 to swing relative to the support base 21 to a set angle. Among them, the rotor thruster 22 includes an annular housing 221, a propulsion motor 222, and a rotor 223. A bracket 224 is arranged between the inner walls of the annular housing 221. The propulsion motor 222 is arranged on the bracket 224. The propulsion motor 222 is located at the center of the annular housing 221. The output rotating shaft of the propulsion motor 222 is connected to the rotor 223. Opposite sides of the annular housing 221 are hinged to the support base 21 through hinges. The output end of the servo 23 is connected to the annular housing 221, and the servo 23 drives the annular housing 221 to swing to a set angle. The output rotating shaft of the propulsion motor 222 rotates to drive the rotor 223 to rotate; and optionally, the servo 23 drives the annular housing 221 to swing to a set angle to generate a propulsion force on the robot in the set direction.

[0055] The electrowetting fin 3 is disposed at the upper end of the fuselage 1 and extends around the fuselage 1; among them, after the electrowetting fin 3 contacts the liquid, the electrowetting fin 3 can change the surface tension of the surface of the contacted liquid.

[0056] The electrowetting fin 3 includes a horizontal fin 31 and a vertical fin 32 arranged in sequence from inside to outside. The horizontal fin 31 extends horizontally, and the vertical fin 32 extends vertically. Among them, the vertical fin 32 can rapidly reduce the surface tension of the liquid surface in cooperation with the change of the electric field strength. The change of the surface tension depends on the contact angle between the surface of the electrowetting fin 3 and the surface of the contacted liquid. The contact angle decreases as the applied working voltage increases, and the spreading degree of the contacted liquid on the surface of the electrowetting fin 3 increases. In this way, the working voltage required for the electric field is reduced, and the problem of dielectric breakdown of the insulating layer 303 is avoided. In other words, without the vertical fin 32, the edge electric field generated on the horizontal surface of the electrowetting fin 3 (horizontal fin 31) would be much weaker, and a higher working voltage of the electric field would be required to achieve the above-mentioned reduction of the contact angle, which may lead to dielectric breakdown of the insulating layer 303.

[0057] The electro-wetting fin includes a base layer 301, an electrode layer 302, an insulating layer 303, a hydrophobic layer 304, and electrodes. The base layer 301 is made of an insulating material, specifically polyimide or glass material. The base layer 301 serves as the basic support for the entire electro-wetting fin, providing mechanical stability and insulation performance. The electrode layer 302 is made of a conductive material, specifically gold, platinum, indium tin oxide, or aluminum material, and the electrode layer 302 is disposed on the outer surface of the base layer 301. The electrode layer 302 is used to apply a voltage to generate an electric field to change the contact angle of the surface of the liquid in contact. The pattern of the electrode layer 302 is defined on the base layer 301 by photolithography technology, and the conductive material is deposited by sputtering or chemical vapor deposition (CVD) method to form the electrode layer 302. The insulating layer 303 is made of an insulating material, specifically silicon dioxide, polydimethylsiloxane, polyimide, or fluoride polymer. The insulating layer 303 prevents the electrode layer 302 from directly contacting the liquid to avoid short circuit and corrosion problems, while allowing the electric field to pass through. The thickness of the insulating layer 303 is between dozens of nanometers and hundreds of nanometers to ensure that the insulating layer 303 has good insulation performance and electric field penetration ability. The insulating layer 303 wraps the electrode layer 302, and the electrode layer 302 is electrically connected through the electrode. The hydrophobic layer 304 is made of a hydrophobic material, specifically polytetrafluoroethylene, perfluorooctylsilane, or polydimethylsiloxane material. The hydrophobic layer 304 wraps the insulating layer 303 and is coated on the surface of the insulating layer 303 by chemical vapor deposition (CVD) method or self-assembled monolayer (SAM) technology. The hydrophobic layer 304 is used to reduce the contact angle of the liquid, enhance the electro-wetting effect, and prevent the liquid from adhering to the surface, ensuring the smooth and stable movement of the liquid droplet.

[0058] After the electro-wetting fin contacts the liquid, an electric current is applied to the electrode layer 302 through the electrode. An electric field is generated between the electrode layer 302 and the surface of the liquid in contact. By changing the electric field strength, the contact angle of the surface of the liquid in contact with the electro-wetting fin is changed, and then the surface tension of the surface of the liquid in contact with the electro-wetting fin is changed, and finally the maximum upward net force generated by the electro-wetting fin is changed.

[0059] The calculation formula for the maximum upward net force F generated by the electro-wetting fin is as follows:

[0060] F = -γLcosθ + ρ ω gAh ω ; Equation (1)

[0061] Where,

[0062] γ is the surface tension coefficient of the liquid in contact;

[0063] L is the length of the electro-wetting fin in contact with the liquid state;

[0064] θ is the contact angle between the electro-wetting fin and the liquid surface;

[0065] ρ ω is the density of the liquid;

[0066] g is the acceleration due to gravity;

[0067] A is the planar area of the electro-wetting fin;

[0068] h ω is the deformation of the water surface caused by the electro-wetting process.

[0069] Specifically, "-γLcosθ" represents the supporting force exerted by the surface tension on the electro-wetting fin, and this force decreases as the contact angle increases. The surface tension mainly provides support through the contact area between the liquid and the electro-wetting fin. "ρ ω gAh ω " represents the contribution of the buoyant force, which is generated due to the deformation of the water surface and is closely related to the deformation h of the water surface caused by the electro-wetting process ω Closely related.

[0070] The communication base station 4 is arranged at the upper end of the fuselage 1 for realizing wireless communication.

[0071] The detection unit is arranged on the fuselage 1 for detecting the surrounding environment and uploading the signal of detecting the surrounding environment to the main control unit, and then relaying and transmitting the signal through each communication base station 4. Among them, the detection unit is set as a camera, specifically the upper camera 51 and the lower camera 52. Both the upper camera 51 and the lower camera 52 are panoramic cameras. The upper camera 51 is arranged at the upper end of the fuselage 1, and the lower camera 52 is arranged at the lower end of the fuselage 1. In addition, the detection unit can also be set as an acid-base concentration sensor for monitoring the pH value of the mine water accumulation.

[0072] The main control unit is respectively signal-connected to the propulsion unit (the rotor propeller 22 and the servo 23), the electro-wetting fin 3, the communication base station 4, the detection unit (the upper camera 51 and the lower camera 52), and the power supply unit.

[0073] The power supply unit is set as the battery 61 and the driving mechanism, and the driving mechanism can drive the battery 61 to reciprocate along the axial direction of the fuselage 1.

[0074] The battery 61 reciprocates along the axial direction of the fuselage 1 to change the position of the battery 61 in the axial direction of the fuselage 1, and by changing the relative magnitudes of the gravity moment and the buoyant moment of the robot, the pitching angle of the fuselage 1 is further changed.

[0075] The formulas for the gravity moment and the buoyant moment of the robot are as follows:

[0076] The gravity moment M g = G·d g ;

[0077] where, dg It is the horizontal distance from the center of gravity to the center of buoyancy.

[0078] Buoyancy moment M b = B·d b ;

[0079] where d b is the horizontal distance from the center of buoyancy to the center of gravity.

[0080] G·d g ≈ B·d b When G·d ≈ B·d, that is, the gravity moment and the buoyancy moment are nearly in balance, the fuselage remains relatively horizontally stationary. When the gravity moment and the buoyancy moment reach balance, the fuselage stabilizes at a certain pitch angle. If the gravity moment > buoyancy moment, the battery moves downward and the fuselage tends to sink at the tail, and the pitch angle increases. If the buoyancy moment > gravity moment, the battery moves upward and the fuselage tends to sink at the head, and the pitch angle decreases.

[0081] When the robot's attitude is to switch from underwater submergence to surface cruising or flight, the battery position changes from horizontal to vertical, that is, d is increased g , the center of gravity moves backward, resulting in an increase in the gravity moment, while the buoyancy moment cannot match the gravity moment, and the fuselage begins to tilt. Eventually, the fuselage reaches a new equilibrium state, and the pitch angle at this time is about 90°.

[0082] The pitch angle of the fuselage 1 changes to make the fuselage 1 match different attitudes. The fuselage 1 is vertical to match the flight attitude and the surface cruising attitude, and the fuselage 1 is horizontal to match the underwater submergence attitude. The change in the pitch angle of the fuselage 1 can also make the detection unit face different angles. When the robot floats on the water surface, by changing the pitch angle of the fuselage 1, the upper camera 51 can face different angles in the space above the water surface, and the lower camera 52 can face different angles in the space below the water surface.

[0083] The driving mechanism includes a slide bar 62, a lead screw 63, a driving motor, a slide block and a nut. The slide bar 62 and the lead screw 63 are both arranged along the axial direction of the fuselage 1. The two ends of the slide bar 62 are fixedly connected to the upper and lower ends of the fuselage 1, and the two ends of the lead screw 63 are connected to the upper and lower ends of the fuselage 1 through bearings. The output rotating shaft of the driving motor is connected to one end of the lead screw 63. The slide block and the nut are arranged on the battery 61. The slide block is slidably matched with the slide bar 62, and the nut is matched with the lead screw 63.

[0084] The output rotating shaft of the driving motor drives the lead screw 63 to rotate. The lead screw 63 meshes with the nut, thereby driving the slide block to slide relative to the slide bar 62, and finally driving the battery 61 to reciprocate along the axial direction of the fuselage 1.

[0085] A method for switching the attitude of cross-medium water-air operation, which applies the cross-medium water-air operation rescue robot described above in this embodiment. The method selectively performs the following attitude switching:

[0086] 1. Switch from the flight attitude to the water surface cruising attitude;

[0087] Keep the battery 61 in the axial position of the fuselage 1 to make the fuselage 1 vertical. Under the combined action of the vertical component of the propulsion force generated by the propulsion unit and the gravity of the robot, the robot descends from the air to the water surface. After the electrowetting fins 3 come into contact with the liquid, under the combined action of the gravity of the robot, the buoyancy force on the part of the fuselage 1 below the electrowetting fins 3, the supporting force generated by the surface tension on the electrowetting fins 3, and the buoyancy force on the electrowetting fins 3, the robot floats on the water surface. The horizontal component of the propulsion force generated by the propulsion unit drives the robot to cruise on the water surface.

[0088] Among them, after the robot cruises to the set position on the water surface and shuts down the propulsion unit, it can float on the water surface for a long time. The robot is in a low-power standby operation state, which greatly extends the operation time of the robot. At this time, the power supply unit mainly supplies power to the communication base station 4 or the detection unit to achieve long-term communication through the communication base station 4 or long-term detection through the detection unit. It should be noted that when the robot floats on the water surface, the communication distance of the communication base station 4 can be greatly extended and the communication effect can be improved.

[0089] In addition, when the robot floats on the water surface, the position of the battery 61 in the axial direction of the fuselage 1 can be changed to tilt the fuselage 1 at different angles, so that the detection unit can search and rescue at different angles.

[0090] 2. Switch from the water surface cruising attitude to the underwater submersible attitude;

[0091] Reduce the surface tension of the liquid surface in contact with the electrowetting fins 3. Under the combined action of the gravity of the robot, the buoyancy force on the fuselage 1, the supporting force generated by the surface tension on the electrowetting fins 3, and the buoyancy force on the electrowetting fins 3, the robot sinks underwater. Change the position of the battery 61 in the axial direction of the fuselage 1 to make the fuselage 1 horizontal. The horizontal component of the propulsion force generated by the propulsion unit drives the robot to submerge underwater.

[0092] 3. Switch from the underwater submersible attitude to the flight attitude;

[0093] Change the position of the battery 61 in the axial direction of the fuselage 1 to make the fuselage 1 vertical. Under the combined action of the vertical component of the propulsion force generated by the propulsion unit, the gravity of the robot, and the buoyancy force on the fuselage 1, the robot rises from underwater into the air. The propulsion unit generates a propulsion force to drive the robot to fly in the air.

[0094] So far, this embodiment has been described in detail with reference to the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the cross-medium water-air operation rescue robot and the attitude switching method of the present invention. The cross-medium water-air operation rescue robot and the attitude switching method of the present invention can submerge underwater, cruise on the water surface, and fly in the air, and can realize the switching of "flight attitude", "water surface cruise attitude" and "underwater submergence attitude". The attitude switching is flexible and reliable, and is suitable for the rescue operation conditions in the underground roadway after a water penetration accident, so as to realize the search and rescue operations underwater, on the water surface and above the water; several robots are arranged at intervals in the roadway, and wireless communication is carried out with the communication base station 4 between adjacent robots to relay and transmit the signals detected by the detection units of each robot to detect the surrounding environment; among them, after the robot cruises to the set position on the water surface, the propulsion unit is turned off, which can make the robot float on the water surface for a long time, and the robot is in a low-power standby operation state, greatly extending the operation duration of the robot; in addition, when the robot floats on the water surface, the position of the battery 61 in the axial direction of the fuselage 1 can be changed to tilt the fuselage 1 at different angles, so that the detection unit faces different angles for search and rescue.

[0095] Certainly, the above-described specific embodiments further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cross-medium water-air rescue robot, characterized in that: include: body; A propulsion unit, disposed at the upper end of the fuselage, for generating propulsion in a set direction; The electrowetting fins are arranged at the upper end of the fuselage and extend around the fuselage; wherein, after the electrowetting fins come into contact with the liquid, the electrowetting fins can change the surface tension with the surface of the liquid in contact; A communication base station is arranged at the upper end of the fuselage and is used to realize wireless communication; A detection unit, arranged on the fuselage, for detecting the surrounding environment; The main control unit is respectively connected to the propulsion unit, the electro-wetting wing, the communication base station and the detection unit.

2. A cross-medium water-to-air rescue robot according to claim 1, characterized in that: The electrowetting fins include horizontal fins and vertical fins which are sequentially arranged from the inside to the outside. The horizontal fins are arranged to extend in a horizontal direction, and the vertical fins are arranged to extend in a vertical direction.

3. A cross-medium water-to-air rescue robot according to claim 1 or 2, characterized in that: The electrowetting fin comprises a base layer, an electrode layer, an insulating layer, a hydrophobic layer and an electrode, wherein the base layer is made of an insulating material, the electrode layer is made of a conductive material, the electrode layer is arranged on the outer surface of the base layer, the insulating layer is made of an insulating material, the insulating layer wraps the electrode layer, the electrode layer is electrically connected via the electrode, and the hydrophobic layer is made of a hydrophobic material, and the hydrophobic layer wraps the insulating layer; After the electrowetting fin contacts the liquid, the electrode layer is energized through the electrode, and an electric field is generated between the electrode layer and the surface of the liquid in contact. By changing the electric field strength, the contact angle of the liquid surface in contact with the electrowetting fin is changed, thereby changing the surface tension of the liquid surface in contact with the electrowetting fin.

4. The cross-medium water-to-air rescue robot according to claim 1, characterized in that: It also includes a power supply unit, which is arranged in the body.

5. The cross-medium water-to-air rescue robot according to claim 4, characterized in that: The power supply unit is configured as a battery and a driving mechanism, and the driving mechanism can drive the battery to reciprocate along the axial direction of the fuselage.

6. The cross-medium water-to-air rescue robot according to claim 5, characterized in that: The driving mechanism includes a sliding rod, a screw rod, a driving motor, a sliding seat and a nut. The sliding rod and the screw rod are arranged along the axial direction of the fuselage. The output shaft of the driving motor is connected to one end of the screw rod. The sliding seat and the nut are arranged on the battery. The sliding seat slidably cooperates with the sliding rod, and the nut cooperates with the screw rod.

7. The cross-medium water-to-air rescue robot according to claim 1, characterized in that: The propulsion unit includes a support seat, a rotor propeller and a servo. The support seat is arranged at the upper end of the fuselage. The rotor propeller is hinged to the support seat. There are four rotor propellers, which are arranged at equal intervals along the circumference of the fuselage. The servo is used to drive the rotor propeller to swing to a set angle relative to the support seat.

8. The cross-medium water-to-air rescue robot according to claim 1, characterized in that: The detection unit is configured as a camera.

9. The cross-medium water-to-air rescue robot according to claim 8, characterized in that: The cameras are arranged at the upper end and the lower end of the body respectively.

10. A method for switching postures during cross-medium water-to-air operation, using the cross-medium water-to-air operation rescue robot according to any one of claims 1 to 9, characterized in that: The method selectively performs the following posture switching:

1. Switch from flying attitude to surface cruising attitude; The battery is kept in the axial position of the fuselage to make the fuselage vertical, and the robot is dropped from the air to the water surface under the combined force of the propulsion force generated by the propulsion unit in the vertical direction and the gravity of the robot; After the electrowetting fins come into contact with the liquid, the robot floats on the water surface under the combined force of the robot's gravity, the buoyancy of the body, the support force of the electrowetting fins generated by surface tension, and the buoyancy of the electrowetting fins; the propulsion unit generates a horizontal component of the propulsion force to drive the robot to cruise on the water surface; 2. Switch from surface cruising posture to underwater diving posture; The surface tension of the liquid surface in contact with the electrowetting fins is reduced, and the robot is sunk underwater under the combined force of the robot's gravity, the buoyancy of the body, the support force of the electrowetting fins generated by the surface tension, and the buoyancy of the electrowetting fins; the position of the battery in the axial direction of the body is changed to make the body horizontal, and the propulsion unit generates a horizontal component of the propulsion force, driving the robot to dive underwater; 3. Switch from underwater diving posture to flying posture; The battery position in the axial direction of the fuselage is changed to make the fuselage vertical. Under the combined force of the vertical component of the propulsion force generated by the propulsion unit, the robot's gravity, and the buoyancy of the fuselage, the robot rises from underwater into the air; the propulsion unit generates propulsion force to drive the robot to fly in the air.

Images