A sea-air amphibious multi-functional robot

Abstract

A sea-air amphibious multifunctional robot, comprising a robot main unit, a rotor unit and a gripper unit, the robot main unit can be multi-stage cascading spliced to form an elongated AUV shape or a multi-rotor unmanned aerial vehicle shape; the rotor unit is symmetrically arranged on both sides of the main shell and can be retracted or expanded, when the rotor unit is retracted, it is attached to the side of the main shell to form a spherical structure with the main shell, at this time the robot is in a floating spherical shape, when the rotor unit is expanded, it can change the attitude to make the robot in underwater glider shape, AUV shape and multi-rotor unmanned aerial vehicle shape respectively; the gripper unit is installed on the lower part of the main shell and can retract into or extend out of the main shell, the gripper unit can extend out to grasp the target object when in underwater glider shape, AUV shape and multi-rotor unmanned aerial vehicle shape, if it extends out when in floating spherical shape, there is a sustained relative reciprocating motion under the ups and downs of sea wave fluctuation to charge the robot battery.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a multi-functional amphibious robot. Background Technology

[0002] As humanity continues to explore the marine and aerial environments, especially with the increasing demand for applications in complex environments (such as the ocean surface, deep sea areas, and aerial patrol missions), multifunctional and environmentally adaptable operational platforms are becoming increasingly important. For example, marine exploration involves monitoring ocean temperature, salinity, and currents, studying the ecological environment, retrieving and salvaging targets, and detecting and locating floating objects at sea. The completion of these tasks requires equipment capable of operating across both air and water domains.

[0003] Currently, robotic technologies used for marine environment and aerial patrols are mainly divided into two types: underwater robots and aerial drones. However, these two single types of devices have the following limitations in practical tasks:

[0004] First, underwater robots, such as autonomous underwater vehicles (AUVs) and underwater gliders, can perform underwater exploration and retrieval tasks within a certain range, but their operating time is usually limited by their endurance, requiring frequent charging or resupply. Furthermore, these devices are typically designed only for underwater environments and cannot effectively perform tasks on the surface or in the air.

[0005] Secondly, aerial drones are also limited by battery capacity, have limited mission coverage in marine environments, and cannot perform underwater operations. This makes aerial drones inadequate for certain cross-domain tasks.

[0006] Third, there are existing limitations to combined sea-air operational equipment. While some robotic systems have attempted to combine sea and air capabilities, their functions are generally quite limited, mainly focusing on simple transitions between floating on the sea surface and flying in the air, lacking underwater operational capabilities. Furthermore, these devices typically lack long-duration endurance and autonomous power acquisition methods, making it difficult to handle long-term missions in complex environments.

[0007] While existing underwater robot and rotary-wing drone technologies have made significant progress in their respective fields, the following problems still exist when facing cross-domain tasks:

[0008] I. Shortcomings of underwater robots (such as gliders and AUVs)

[0009] 1. Traditional underwater gliders rely on changes in buoyancy to glide, making it difficult to change direction flexibly, and resulting in low speed and responsiveness.

[0010] 2. AUVs (Autonomous Underwater Vehicles) typically require complex power and control systems, consume a lot of energy, and cannot operate for extended periods.

[0011] 3. Underwater robots lack the ability to generate their own energy and rely on external charging, which limits their range and mission scope.

[0012] II. Shortcomings of Aerial Rotary-Wing Drones

[0013] 1. Drones have limited battery life, especially when performing maritime missions, where flight distance and operation time are limited.

[0014] 2. Unable to adapt to the aquatic environment, it lost its ability to perform ocean missions. Summary of the Invention

[0015] To address the above issues, there is an urgent need for a multi-functional amphibious robot capable of freely switching between the ocean and the air. This robot should be able to float on the surface to monitor the environment or harvest energy, dive underwater to perform gliding, navigation, and retrieval tasks, and possess aerial flight capabilities for rapid response to patrol and transportation needs. Furthermore, this device should be energy self-sufficient and capable of operating efficiently and stably in complex environments to meet the diverse practical application requirements of scientific research, rescue, and military applications.

[0016] The technical solution adopted in this invention is:

[0017] A multi-functional amphibious robot includes a main robot unit, a rotor unit, and a gripper unit. The main robot unit includes a main shell, within which a main control module, a robot battery, a power generation module, and a sensor module are installed. The robot battery, power generation module, and sensor module are all connected to the main control module. The power generation module can charge the robot battery under varying wave conditions. A male docking head is installed on the front end of the main shell, and a female docking head is installed on its rear end. Several robots can be cascaded and spliced ​​together in multiple stages through docking of the male and female docking heads to form an extended AUV or a multi-rotor drone.

[0018] The rotor units are symmetrically arranged on both sides of the main shell, capable of retracting or extending. When retracted, the rotor units attach to the sides of the main shell and form a spherical structure, putting the robot in a floating sphere mode. When extended, the rotor units can change attitude to put the robot into underwater glider mode, AUV mode, and multi-rotor drone mode. Each rotor unit includes articulated motors that can change attitude. These articulated motors are connected to the main control module and can be activated to charge the robot's battery when the power is low, even amidst the fluctuations of waves.

[0019] The gripper unit is installed at the lower part of the main shell and can retract or extend from the main shell. In underwater glider mode, AUV mode, and multi-rotor drone mode, the gripper unit can extend to grab the target object. If the gripper unit extends in floating ball mode, it can perform a continuous relative reciprocating motion to charge the robot battery under the fluctuation of the waves.

[0020] Furthermore, a front oil bladder and a rear oil bladder are installed inside the main housing. The front oil bladder is connected to the front oil source, and the rear oil bladder is connected to the rear oil source. Both the front and rear oil sources are equipped with hydraulic devices for adjusting the volume of the oil bladders, and the hydraulic devices are connected to the main control module.

[0021] Furthermore, the main housing is provided with an upper partition and a lower partition fixed in sequence. The main control module, robot battery, spring-driven power generation module, sensor module, front oil source, and rear oil source are respectively installed on the upper surface of the upper partition. The front oil bladder and the rear oil bladder are installed in the intermediate cavity between the upper partition and the lower partition.

[0022] Furthermore, a front communication module, a rear communication module, and a multi-stage telescopic device storage cavity are fixed on the lower surface of the lower partition. A multi-stage telescopic device is installed inside the multi-stage telescopic device storage cavity, and the bottom of the multi-stage telescopic device is fixedly connected to the gripper unit.

[0023] Furthermore, the lower part of the main housing is provided with an openable and closable front rotating spherical shell and a rear rotating spherical shell. Both the front rotating spherical shell and the rear rotating spherical shell are connected to a circular motor that drives them to rotate. The circular motor is connected to the main control module. The circular motor passes through the base of the main telescopic push rod and is fixed to the inner surface of the main housing.

[0024] Furthermore, a miniature camera is installed at the center of the male docking head, and a docking beacon is installed at the center of the female docking head. The miniature camera and the docking beacon form a docking guide mechanism. Both the male and female docking heads are equipped with electromagnetic chucks. When the docking guide mechanism assists the two individual robots to reach the docking position, the male and female docking heads are locked together by the electromagnetic chucks.

[0025] Furthermore, the rotor unit includes a rotor base, on which a rotor motor is fixed, and on which a rotor is mounted and driven to move. A rotor fairing covering the rotor is fixed to the upper end face of the rotor base. The lower end face of the rotor base is hinged to one end of a joint shaft and driven by a joint motor. The other end of the joint shaft extends into the movable cavity of the main telescopic rod and contains a two-degree-of-freedom motor. The two-degree-of-freedom motor can drive the joint shaft and the main telescopic rod to slide relative to each other and / or rotate relative to each other. The main telescopic rod is telescopically mounted in the internal cavity of the main telescopic rod push rod base.

[0026] Furthermore, the gripper unit includes a gripper base plate, on the upper surface of which a linear generator is mounted. The linear generator is installed at the bottom of the multi-stage telescopic device. The linear generator can maintain a continuous relative reciprocating motion to charge the robot's battery amidst the fluctuations of ocean waves. When the robot body is semi-floating on the water surface, the main robot unit rises and falls with the waves, causing the underwater gripper unit and the main robot unit to generate a continuous relative reciprocating motion. Under the influence of wave energy, the reciprocating motion between the stator and mover of the linear generator can generate electricity to charge the robot's battery. When the gripper grasps an underwater target, the stator and mover of the linear generator can undergo damped relative motion within a certain stroke after being subjected to force, absorbing external impact energy and converting it into electrical energy to do work. In other words, the linear generator acts as a damping buffer between the gripper unit and the main robot unit, thereby ensuring that the gripper can grasp the target more smoothly.

[0027] Furthermore, a pair of gripper cylinders are fixed to the bottom of the gripper base plate. A pressure plate connecting rod is movably arranged in the movable cavity of the gripper cylinder. A gripper pressure plate is fixedly connected to the bottom of the pressure plate connecting plate. A pair of hook fixing seats are fixedly connected to the left and right sides of the gripper base plate respectively. A rotating shaft is provided through the middle of the hook fixing seat. A hook swing arm is connected to both ends of the rotating shaft respectively. A hook is fixedly connected to the lower side of the hook swing arm.

[0028] Furthermore, a bottom camera for visual positioning when grasping underwater targets is installed on the lower surface of the gripper base plate.

[0029] Compared with the prior art, the significant advantages of this invention include:

[0030] 1. Rapid transition between sea and air. The robot can operate flexibly in both sea and air environments, demonstrating its adaptability to complex environments. On land, two robots can be combined to form a quadcopter drone for aerial missions such as patrol reconnaissance, target locking, and air transport. It can also quickly fly to the target sea area, where the two robots can separate into two independent robots to perform underwater missions such as ocean exploration, target retrieval, and environmental monitoring.

[0031] 2. Multi-form capability: The robot can be configured in multiple working forms (floating ball, AUV, underwater glider, rotorcraft drone) to suit specific sea conditions, improving its environmental and task adaptability. Traditional robots typically have a single form and rarely offer multi-form adaptability. However, in some vast sea areas, traditional robots still require manual deployment and retrieval, hindering large-scale exploration operations. Utilizing the rotorcraft drone form of the robot can significantly increase the space and range of exploration. The robot can freely explore the target sea area. When its battery is low, it can self-recharge (using wave energy to power the spring-loaded generator module, articulated motors, and gripper linear generators). After completing a predetermined task underwater (such as underwater target retrieval or hydrographic exploration), two or more robots can be assembled underwater to form a quadcopter or multi-rotor drone, which can then quickly fly to the retrieval location.

[0032] 3. The amphibious multi-functional robot can work without human control and can be airdropped to multiple areas simultaneously, enabling scientific exploration of a large marine environment in a short time, while simultaneously collecting water and sediment samples from a specific area, thus enriching the diversity of the exploration samples.

[0033] 4. Comparison with conventional underwater gliders: Conventional underwater gliders use independent buoyancy adjustment devices, independent attitude adjustment devices, and separately designed wings to achieve gliding. This invention utilizes front and rear buoyancy adjustment devices to simultaneously achieve buoyancy and attitude adjustment, while cleverly employing a multi-functional horizontal rotor to realize the wing function of a conventional glider. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the initial structural form of the present invention.

[0035] Figure 2 This is a three-dimensional structural diagram of the rotor unit and gripper unit of the present invention after both are deployed.

[0036] Figure 3 yes Figure 2 The main view.

[0037] Figure 4 This is a front view of the main robot unit of the present invention.

[0038] Figure 5 This is a rear view of the main robot unit of the present invention.

[0039] Figure 6 This is a schematic diagram of the rotor unit of the present invention.

[0040] Figure 7 This is a schematic diagram of the gripper unit of the present invention.

[0041] Figure 8This is a schematic diagram of the underwater glider of the present invention.

[0042] Figure 9 This is a schematic diagram of the present invention capturing a target object in the form of an underwater glider.

[0043] Figure 10 This is a schematic diagram of the AUV configuration of the present invention.

[0044] Figure 11 This is a schematic diagram of the extended AUV configuration of the present invention.

[0045] Figure 12 This is a schematic diagram of the rotorcraft drone of the present invention. Detailed Implementation

[0046] The present invention will be further described below with reference to specific embodiments, but the invention is not limited to these specific embodiments. Those skilled in the art should recognize that the present invention covers all alternatives, improvements, and equivalents that may be included within the scope of the claims.

[0047] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0048] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0050] See Figure 1-5 This embodiment provides an amphibious multi-functional robot, including a robot main unit 1, a rotor unit 2, and a gripper unit 3. The robot main unit 1 includes a main shell 4, and a main control module 5, a robot battery 6, a spring-loaded power generation module 7, and a sensor module are installed inside the main shell 4. The robot battery 6, the spring-loaded power generation module 7, and the sensor module are all connected to the main control module 5. The spring-loaded power generation module 7 can charge the robot battery 6 under the fluctuation of sea waves. A docking male head 8 is installed on the front end of the main shell 1, and a docking female head 9 is installed on its rear end. Several robots can be cascaded and spliced ​​in multiple stages through docking of the docking male head 8 and the docking female head 9 to form an extended AUV or a multi-rotor drone.

[0051] The rotor units 2 are symmetrically arranged on both sides of the main shell 4, capable of retracting or extending. When the rotor units 2 are retracted, they are attached to the side of the main shell 4 and form a spherical structure with the main shell 4, at which time the robot is in a floating sphere mode. When the rotor units 2 are extended, they can change the robot's attitude to be in underwater glider mode, AUV mode, or multi-rotor drone mode. The rotor units 2 include articulated motors 27 that can change attitude. The articulated motors 27 are connected to the main control module 5. When the power is low, the articulated motors 27 can be activated to charge the robot's battery 6 under the fluctuation of waves.

[0052] The gripper unit 3 is installed at the lower part of the main shell 4 and can retract or extend from the main shell 4. When the gripper unit 3 is in underwater glider mode, AUV mode, or multi-rotor drone mode, it can extend to grab the target object. When the gripper unit 3 is extended in floating ball mode, it can perform a continuous relative reciprocating motion to charge the robot battery 6 under the fluctuation of the waves.

[0053] Specifically, refer to Figure 4 , 5The robot main unit 1 described in this embodiment includes a front communication module 15, a rear communication module 19, a miniature camera 14, a male docking connector 8, a female docking connector 9, a docking beacon 18, a front oil source 12, a rear oil source 13, a spring-loaded power generation module 7, a robot battery 6, a main control module 5, a sensor module (including a speed sensor, an acceleration sensor, and GPS positioning), an upper partition 16, a lower partition 17, a front oil bladder 10, a rear oil bladder 11, a main housing 4, a multi-stage telescopic device 42, a multi-stage telescopic device storage cavity 20, a front rotating spherical shell 22, and a rear rotating spherical shell 23. The main housing 4 consists of a shell 21, a circular motor 23, and a main telescopic push rod base 24. The main telescopic push rod base 24 passes through and is fixed to the main housing 4. An upper partition 16 and a lower partition 17 are fixed to the upper and lower ends of the main housing 4, respectively. A front oil source 23, a rear oil source 23, a robot battery 6, a spring-loaded power generation module 7, a main control module 5, and a sensor module are respectively installed on the upper surface of the upper partition 16. A front oil bladder 10 and a rear oil bladder 11 are installed in the space between the upper partition 16 and the lower partition 17. The front oil bladder 10 and the rear oil bladder 11 are respectively connected to the front oil source 12 and the rear oil source. 13. The hydraulic devices in the front oil source 12 and the rear oil source 13 can adjust the volume of the two oil bladders respectively. This can not only change the robot's buoyancy relationship, but also adjust the distribution of the robot's center of gravity relative to the center of buoyancy, thereby changing the robot's different pitch angle attitudes, and then combining with the left and right horizontal rotors to achieve gliding function; the lower surface of the lower partition 17 is fixed with the front communication module 15, the rear communication module 19, and the multi-stage telescopic device storage cavity 20; the multi-stage telescopic device storage cavity 20 is equipped with a multi-stage telescopic device 42; the bottom of the multi-stage telescopic device is connected to... The gripper unit 3 is fixedly connected; the circular motor 23 passes through the main telescopic push rod base 24 and is fixed to the inner surface of the main housing 4; the circular motor 23 can adjust the rotation angle of the front rotating spherical shell 22 and the rear rotating spherical shell 21 to open or close the front rotating spherical shell 22 and the rear rotating spherical shell 21; a docking male head 8 is installed on the front end face of the main housing 4 and a miniature camera 14 is installed at the center of the docking male head 8; a docking female head 9 is installed on the rear end face of the main housing 4 and a docking beacon 18 is installed at the center of the docking female head 9.

[0054] Reference Figure 6The rotor unit described in this embodiment includes a main telescopic rod 25, a joint shaft 26, a joint motor 27, a rotor base 28, a rotor fairing 29, a rotor 30, and a rotor motor 31. The rotor motor 31 is fixed on the rotor base 28. The rotor motor 31 can drive the rotor 30 to move. The rotor fairing 29 is fixed on the upper end face of the rotor base 28. The lower end face of the rotor base 28 is hinged to one end of the joint shaft 26 and driven by the joint motor 27. The other end of the joint shaft 26 extends into the movable cavity of the main telescopic rod 25 and has a built-in two-degree-of-freedom motor (not shown in the figure), which can drive the joint shaft 26 and the main telescopic rod 25 to slide and rotate relative to each other. The bottom end of the main telescopic rod 25 can extend into the internal cavity of the main telescopic rod push rod base 24 of the robot main unit 1.

[0055] Reference Figure 7 The gripper unit 3 described in this embodiment includes a gripper base plate 33, a linear generator 32, a gripper hook arm 36, a rotating shaft 34, a gripper hook 37, a bottom camera 38, gripper cylinders 41, a pressure plate connecting rod 40, and a gripper pressure plate 39. The linear generator 32 is connected to the bottom of the multi-stage telescopic device 42 of the robot main unit 1. The top of the gripper base plate 33 is fixedly connected to the bottom of the linear generator 32. A pair of gripper cylinders 41 are fixedly mounted on the bottom of the gripper base plate 33. The pressure plate connecting rod 40 is disposed in the movable cavity of the gripper cylinders 41. The bottom of the pressure plate connecting rod 40 is fixedly connected to the gripper pressure plate 39. A pair of gripper hook fixing seats 35 are fixedly mounted on the left and right sides of the gripper base plate 33, respectively. The rotating shaft 34 passes through the middle of the pair of gripper hook fixing seats 35. The gripper hook arm 36 is connected to both ends of the rotating shaft 34. The gripper hook 37 is fixedly mounted on the lower side of the gripper hook arm 36. A bottom camera 38 is installed on the lower surface of the gripper base plate 33 for visual positioning when gripping underwater targets. When the robot body is semi-floating on the water surface, in its floating ball working mode, the gripper unit 3 extends and submerges in the water. The robot main unit 1 rises and falls with the waves, resulting in continuous relative reciprocating motion between the underwater gripper unit 3 and the robot main unit 1. Under the influence of wave energy, the reciprocating motion between the stator and mover of the linear generator 32 generates electricity to charge the robot battery 6 in the robot main unit 1. Another special beneficial effect is that when the gripper grasps an underwater target (glider mode, AUV mode, rotorcraft drone mode), the multi-stage telescopic device 42 extends out of the bottom gripper unit 3. After being subjected to force, the stator and mover of the linear generator 32 can have damped relative motion within a certain stroke, absorbing external impact energy and converting it into electrical energy to do work. That is, the linear generator 32 acts as a damping buffer between the gripper unit 3 and the robot main unit 1, thereby ensuring that the gripper can grasp the target more smoothly. Operating mode of this invention:

[0056] Form 1: Floating ball (buoy). (When buoyancy is greater than gravity)

[0057] refer to Figure 1 The robot is spherical (when fully charged) and floats on the sea surface. The internal sensor module 8 is used to detect hydrological data.

[0058] refer to Figure 2 The robot unfolds, with the main sphere still floating on the sea surface (when the battery is low). The robot deploys its two rotors and extends its bottom gripper via a multi-stage telescopic device 42. There are three charging methods: 1. The robot itself has an internal spring-loaded power generation module 7 (see reference). Figure 4 Similar to the mainspring of a mechanical watch, the rotation of the mainspring, driven by the ebb and flow of ocean waves, generates electricity. Charging method 2: The ebb and flow of ocean waves rotates the entire rotor, activating the joint motor 27 (see reference). Figure 6 (Similar to a hand-cranked generator). Charging method 3: The robot extends its gripper. A linear generator 32 is located at the top of the gripper unit 3. Through the fluctuations of the waves, the gripper unit 3 and the robot's main unit 1 maintain a continuous relative reciprocating motion. The linear generator 32 uses this relative motion to convert wave energy into electrical energy to charge the robot's battery 6. The spring-loaded power generation module, the joint motor power generation, and the linear generator power generation are the three sources of charging for this robot. They are all connected to the robot's battery 6, allowing for battery charging management under the control of the main control module 5. Charging begins when one of the charging conditions is met. When the battery voltage reaches a set upper limit, the battery overcharge protection automatically cuts off the charging circuit. Theoretically, the robot can collect energy to charge the battery while in motion. However, the robot can collect the most external energy when it is semi-floating on the sea surface. Therefore, when the robot's battery is low, it will actively semi-float on the sea surface to enter a charging state.

[0059] Form 2: Underwater glider form (buoyancy is sometimes greater than gravity, sometimes less than gravity)

[0060] At this time, the left and right rotors are in a horizontal state (similar to the two wings of an airplane). By changing the size of the oil bladder, the robot's buoyancy can be changed. At the same time, by configuring the two oil bladders with different volumes, the robot can adjust its attitude. Ultimately, the adjustment of buoyancy and attitude allows the robot to work in the form of an "underwater glider".

[0061] The underwater glider shape can also be used to grab targets, see reference. Figure 9 .

[0062] Form 3: AUV form (in this form, buoyancy is slightly greater than gravity)

[0063] refer to Figure 10 , 11In AUV mode, the rotors can be controlled to adjust their rotation angle and orientation. Specifically, a key pin is positioned in the hole on the underside of the rotating base, and a joint motor 27 is fixedly mounted on the outside of the joint shaft 26. The joint motor 27 is a miniature brushless DC motor with an output shaft equipped with a key pin for transmitting torque. When the motor is controlled, it transmits torque to the rotating base 28, driving the rotor 30 to move. In this mode, the rotor 30 acts as an AUV thruster. The rotation of the rotor 30 around the main telescopic rod 25 controls the direction of the thrust, and the differential speed of a pair of rotors 30 enables the robot to turn. When two robots are joined together to form a 4-rotor (thruster) configuration, the overall system has better resistance to currents, improving the stability of the robot's underwater operation. Furthermore, multiple robots can be cascaded and joined together via male and female connectors to form a longer AUV, thereby performing more complex tasks. During docking: A miniature camera is installed inside the male docking head hole, and a cross-shaped docking beacon is installed inside the female docking head hole. The miniature camera and the docking beacon together form the docking guide mechanism. Both the male and female docking heads are equipped with electromagnetic chucks. When the docking guide mechanism assists the two individual robots to reach the docking position, the male and female docking heads lock together using the electromagnetic chucks.

[0064] Similarly, in the AUV configuration, gripper unit 3 can also extend to grasp the target object.

[0065] Form 4: Quadrotor Drone Form

[0066] refer to Figure 12When a single robot completes its predetermined task, such as hydrological surveying or underwater target retrieval, single robots A and B can dock underwater or on the surface. Two single robots dock to form a "quadrotor robot," with the four rotors arranged in a cross or X shape. The two pairs of rotors rotate in opposite directions at 30° to counteract torque. Compared to an unconnected dual-rotor robot, the docked quadrotor robot offers better stability and maneuverability. The purpose of docking two or more robots is to improve the robot's ability to grasp underwater targets, making it suitable for complex, high-payload tasks. The specific underwater docking process is as follows: After completing the predetermined task, one group of robots receives a docking signal from the controller. The front and rear communication modules between the robots (including underwater acoustic positioning information) are activated and search for the location signals of nearby robots. After locating the other robot using a miniature camera on the front of the robot, robot A actively approaches robot B. Using its miniature camera, robot A identifies robot B's docking beacon (providing more precise visual guidance). Robot A's male docking port slowly fits into robot B's female docking port and locks in place, completing the docking smoothly. After the robot rises from underwater to the surface, its quadcopters activate, transforming it into a quadcopter drone. Once airborne, it flies directly to its destination. Furthermore, multiple robots can be cascaded and connected to form multi-rotor drones, enabling them to perform more complex tasks.

[0067] This invention enables rapid transitions between sea and air environments. The robot can operate flexibly in both "sea" and "air" environments. On land, two robots can be combined to form a quadcopter drone and then take off (capable of aerial patrol and reconnaissance, target locking, and aerial transport). It can quickly fly to the target sea area, where it can then separate into two independent robots to perform underwater tasks such as ocean exploration, target retrieval, and environmental monitoring. After completing its mission, the two robots can be reassembled into a quadcopter drone and take off from the sea back to land to complete its assigned tasks. This multi-mode approach provides four working forms (floating ball, AUV, underwater glider, and rotary-wing drone) depending on the specific sea conditions, improving the robot's environmental and mission adaptability. Traditional robots are typically single-form and rarely offer multi-form transformations. However, in some vast sea areas, traditional robots still require manual deployment and retrieval, which is not conducive to large-area exploration operations. Utilizing the robot's rotary-wing drone form can significantly increase the space and range of exploration. Once the robot reaches the target sea area, it can freely explore. When its battery is low, it can recharge itself (using wave energy to power the spring-loaded generator module, the joint motor, and the gripper linear generator). After completing the predetermined task underwater (such as underwater target retrieval, hydrological exploration, etc.), two robots can be assembled underwater to form a quadcopter drone, which can then quickly fly to the recovery location.

[0068] This invention enables the robot to switch between multiple working modes, including floating on the sea surface, gliding underwater, AUV propulsion, and aerial flight, adapting to various mission requirements from shallow to deep sea and from air to water, thus meeting the needs of multiple scenarios. By combining the gripper unit with a camera, this invention can not only detect but also perform target grasping, transportation, and deployment tasks, possessing multi-tasking capabilities. Self-powering is achieved through wave power generation and mechanical spring-driven power generation, reducing the dependence on external energy sources and improving energy efficiency. Simultaneously, the synergistic use of wave energy, mechanical energy, and battery energy significantly enhances the device's endurance, achieving multi-energy utilization. Through buoyancy adjustment and rotor propulsion design, the robot achieves seamless switching between air and underwater environments, i.e., free switching between amphibious modes.

Claims

1. A multi-functional amphibious robot, comprising a main robot unit, a rotor unit, and a gripper unit, characterized in that: The robot main unit includes a main shell, inside which a main control module, a robot battery, a clockwork power generation module, and a sensor module are installed. The robot battery, clockwork power generation module, and sensor module are all connected to the main control module. The clockwork power generation module can charge the robot battery under the fluctuation of waves. A male docking head is installed on the front end of the main shell, and a female docking head is installed on its rear end. Several robots can be cascaded and spliced ​​in multiple stages by docking the male and female docking heads to form an extended AUV or a multi-rotor drone. The rotor units are symmetrically arranged on both sides of the main shell, capable of retracting or extending. When retracted, the rotor units attach to the sides of the main shell and form a spherical structure, putting the robot in a floating sphere mode. When extended, the rotor units can change attitude to put the robot into underwater glider mode, AUV mode, and multi-rotor drone mode. Each rotor unit includes articulated motors that can change attitude. These articulated motors are connected to the main control module and can be activated to charge the robot's battery when the power is low, even amidst the fluctuations of waves. The rotor unit includes a rotor base, on which a rotor motor is fixed. A rotor driven by the rotor motor is mounted on the rotor motor. A rotor fairing covering the rotor is fixed to the upper surface of the rotor base. The lower surface of the rotor base is hinged to one end of a joint shaft and driven by a joint motor. The other end of the joint shaft extends into the movable cavity of the main telescopic rod and contains a two-degree-of-freedom motor. The two-degree-of-freedom motor can drive the joint shaft and the main telescopic rod to slide relative to each other and / or rotate relative to each other. The main telescopic rod is telescopically mounted in the internal cavity of the main telescopic rod push rod base. The gripper unit is installed at the lower part of the main shell and can retract or extend from the main shell. In underwater glider mode, AUV mode, and multi-rotor drone mode, the gripper unit can extend to grab the target object. If the gripper unit is extended in floating ball mode, it can perform a continuous relative reciprocating motion to charge the robot battery under the fluctuation of the waves.

2. The amphibious multi-functional robot according to claim 1, characterized in that: The main housing is equipped with a front oil bladder and a rear oil bladder. The front oil bladder is connected to the front oil source, and the rear oil bladder is connected to the rear oil source. Both the front and rear oil sources are equipped with hydraulic devices for adjusting the volume of the oil bladders. The hydraulic devices are connected to the main control module.

3. The amphibious multi-functional robot according to claim 2, characterized in that: The main housing is provided with an upper partition and a lower partition fixed in sequence. The main control module, robot battery, spring-driven power generation module, sensor module, front oil source, and rear oil source are respectively installed on the upper surface of the upper partition. The front oil bladder and the rear oil bladder are installed in the intermediate cavity between the upper partition and the lower partition.

4. The amphibious multi-functional robot according to claim 3, characterized in that: The lower surface of the lower partition is fixed with a front communication module, a rear communication module, and a multi-stage telescopic device storage cavity. The multi-stage telescopic device storage cavity is equipped with a multi-stage telescopic device, and the bottom of the multi-stage telescopic device is fixedly connected to the gripper unit.

5. The amphibious multi-functional robot according to claim 1, characterized in that: The lower part of the main housing is provided with an openable and closable front rotating spherical shell and a rear rotating spherical shell. Both the front rotating spherical shell and the rear rotating spherical shell are connected to a circular motor that drives them to rotate. The circular motor is connected to the main control module. The circular motor passes through the base of the main telescopic push rod and is fixed to the inner surface of the main housing.

6. The amphibious multi-functional robot according to claim 1, characterized in that: A miniature camera is installed at the center of the male docking head, and a docking beacon is installed at the center of the female docking head. The miniature camera and the docking beacon form a docking guide mechanism. Both the male and female docking heads are equipped with electromagnetic chucks. When the docking guide mechanism assists the two individual robots to reach the docking position, the male and female docking heads are locked together by the electromagnetic chucks.

7. The amphibious multi-functional robot according to claim 1, characterized in that: The gripper unit includes a gripper base plate, and a linear generator is mounted on the upper surface of the gripper base plate. The linear generator is mounted at the bottom of the multi-stage telescopic device. The linear generator can perform a continuous relative reciprocating motion to charge the robot's battery under the fluctuations of the waves.

8. The amphibious multi-functional robot according to claim 7, characterized in that: A pair of gripper cylinders are fixed to the bottom of the gripper base plate. A pressure plate connecting rod is movably arranged in the movable cavity of the gripper cylinder. A gripper pressure plate is fixedly connected to the bottom of the pressure plate connecting plate. A pair of hook fixing seats are fixedly connected to the left and right sides of the gripper base plate respectively. A rotating shaft is provided through the middle of the hook fixing seat. A hook swing arm is connected to both ends of the rotating shaft respectively. A hook is fixedly connected to the lower side of the hook swing arm.

9. The amphibious multi-functional robot according to claim 8, characterized in that: A bottom camera for visual positioning when grabbing underwater targets is installed on the lower surface of the gripper base plate.

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