Amphibious robot, diving floating equipment and intelligent dynamic thrust distribution method

Abstract

The invention relates to an amphibious robot, diving floating equipment and an intelligent dynamic thrust distribution method. The amphibious robot comprises a shell, a rack, a diving module, a counterweight module, four paddle composite wheels, four driving mechanisms, a water depth sensor, an angle sensor and a controller. The shell is installed on the rack, and a sealed installation cavity is formed between the interior of the shell and the rack. The intelligent amphibious robot with the paddle composite wheel can run on the land like an automobile, thrust in all directions is directly provided through the paddle composite wheel in water, two power structures are combined into one, different propelling modes in the land and water environment are creatively replaced through a new structure, and the amphibious robot is high in practicability and high in practicability. While corresponding functions are achieved, the amphibious robot is compact in structure, small in occupied size, easy to control and maintain, capable of seamlessly switching action modes in an amphibious environment, high in environment adaptability and good in operation smoothness.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to an intelligent amphibious robot, a diving and floating device, and a method for intelligent dynamic distribution of thrust of an intelligent amphibious robot. Background Art

[0002] A large number of studies on amphibious robots have been carried out both at home and abroad. The most representative ones are, for example, AQuA developed jointly by McGill University and York University, etc., the robotic lobster developed by the Marine Science Center of Northeastern University in the United States; the robotic turtle Chuan developed by Shanghai Jiao Tong University, etc. These robots have different ways of achieving amphibious propulsion, each with obvious advantages and disadvantages: the wheeled propulsion has a simple structure and high travel efficiency on flat terrain but poor adaptability to complex terrains; the walking-legged robot has strong terrain adaptability, but its structure and control are very complex and the action efficiency is low; the flapping type has high efficiency in water but is not suitable for land propulsion; the passive wheels commonly used in snake-like propulsion reduce its environmental adaptability. It can be seen that a single propulsion method cannot meet the requirements of various complex environments, and using different propulsion methods on land and water will lead to other problems such as increased complexity, enlarged volume, and reduced environmental adaptability due to the setting of two sets of propulsion devices. Summary of the Invention

[0003] Based on this, in view of the problems that existing robots cannot meet the requirements of various complex environments, and using different propulsion methods on land and water will lead to problems such as increased complexity, enlarged volume, and reduced environmental adaptability due to the setting of two sets of propulsion devices, it is necessary to provide an amphibious robot, a diving and floating device, and a method for intelligent dynamic distribution of thrust.

[0004] In a first aspect, the present invention provides an intelligent amphibious robot, which includes a main body and a propulsion mechanism installed on the main body;

[0005] The propulsion mechanism includes:

[0006] A diving module, which is used to provide gravity and buoyancy for the robot;

[0007] A counterweight module, which is used to change the center of gravity position of the robot;

[0008] Four paddle compound wheels, which are used to provide thrust in water and act as walking wheels on land;

[0009] A water depth sensor, which is used to detect the depth of the robot in water to generate a corresponding depth signal;

[0010] An angle sensor, which is used to detect the roll angle and pitch angle of the robot in water to generate corresponding angle signals; and

[0011] A controller, which is used to control a propulsion mechanism to achieve two different propulsion modes:

[0012] (1) Land propulsion mode: The controller controls the synchronous rotation of four paddle-wheel assemblies to enable the robot to propel on land;

[0013] (2) Underwater propulsion mode: (1) The controller controls the independent rotation of four paddle-wheel assemblies to adjust the thrust magnitude and direction of the corresponding paddle-wheel assemblies in water, so as to enable the robot to propel in water;

[0014] (2) The controller determines the depth of the robot in water through a depth signal; if the robot is to dive, it controls the diving module to increase the gravity of the robot; if the robot is to surface, it controls the diving module to increase the buoyancy of the robot; if the robot is to remain suspended, it controls the diving module to change the overall density of the robot to be the same as the density of the water body where it is located;

[0015] (3) The controller determines the real-time roll angle and real-time pitch angle of the robot through an angle signal;

[0016] If the real-time roll angle is greater than a preset roll angle, it controls the counterweight module to move until the real-time roll angle is less than or equal to the preset roll angle;

[0017] If the real-time pitch angle is outside a preset pitch angle range, it controls the paddle-wheel assemblies at the front and rear ends to rotate to generate an up-and-down thrust difference, so that the real-time pitch angle is within the preset pitch angle range.

[0018] In a second aspect, the present invention further provides a diving and floating device, which includes the intelligent amphibious robot in the first aspect.

[0019] In a third aspect, the present invention further provides a method for intelligent dynamic thrust distribution of an intelligent amphibious robot, which is applied to the intelligent amphibious robot in the first aspect and is used to control the intelligent amphibious robot to move underwater; the method includes the following steps:

[0020] S1. Generate an acceleration a in the vertical direction according to the preset diving speed plan of the intelligent amphibious robot z ;

[0021] Collect the real-time roll angular acceleration and pitch angular acceleration of the intelligent amphibious robot in real time, as well as the combined thrust F1 of the first two paddle-wheel assemblies, the combined thrust F2 of the last two paddle-wheel assemblies, the combined thrust F3 of the left two paddle-wheel assemblies, and the combined thrust F4 of the right two paddle-wheel assemblies in the forward direction of the intelligent amphibious robot;

[0022] S2. Adjust the resultant force direction of F1 to F4 by changing the blade attitude on the blade compound wheel to control the forward direction of the intelligent amphibious robot;

[0023] According to F1 to F4, solve the thrust distribution matrix in real time to meet the requirements of hovering, surfacing, diving, rolling and pitching of the intelligent amphibious robot; where the thrust distribution matrix is:

[0024]

[0025] In the formula, F z is the resultant force in the Z-axis direction; m is the mass of the intelligent amphibious robot; M x is the moment about the X-axis; M y is the moment about the Y-axis; G is the gravity of the intelligent amphibious robot; d x is the arm of force in the X-axis direction; d y is the arm of force in the Y-axis direction; I x is the moment of inertia about the X-axis; I y is the moment of inertia about the Y-axis.

[0026] The beneficial effects of the present invention are as follows:

[0027] The intelligent amphibious robot proposed by the present invention combines the land propulsion mechanism and the water propulsion mechanism into one through the setting of the integrated propulsion mechanism. On land, controlling the synchronous rotation of the four blade compound wheels can be used as car tires. In water, according to the preset program, control the independent rotation of the four blade compound wheels, so as to provide thrust in all directions in water and assist the diving module to achieve propulsion in any direction in water. Compared with the existing amphibious robots, the intelligent amphibious robot in this embodiment creatively replaces different propulsion methods in the water and land environments with a new structure. While realizing the corresponding functions, it not only has a compact structure, reduced occupied volume, easy to control and maintain, but also can seamlessly switch the action mode in the amphibious environment, with high environmental adaptability and good operation fluency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 It is a schematic side view structure diagram of the intelligent amphibious robot;

[0030] Figure 2 It is a half-sectional view of the intelligent amphibious robot from another perspective;

[0031] Figure 3 It is a schematic structural diagram of the blade composite wheel;

[0032] Figure 4 It is a half-sectional view of the front of the blade composite wheel;

[0033] Figure 5 It is Figure 4 the sectional view in the A-A direction in

[0034] Figure 6 It is a schematic structural diagram of the front of the wheel disc;

[0035] Figure 7 It is a schematic structural diagram of the back of the wheel disc;

[0036] Figure 8 It is Figure 6 the sectional view of B-B in

[0037] Figure 9 It is an exploded view of the blade composite wheel with one blade;

[0038] Figure 10 It is a schematic structural diagram of the double crank structure formed by the blades;

[0039] Figure 11 It is a schematic diagram of the mechanism after all the blades are installed;

[0040] Figure 12 It is a schematic principle diagram of the blade composite wheel;

[0041] Figure 13 It is a half-sectional view of the intelligent amphibious robot.

[0042] In the figure: wheel frame one 1, wheel frame two 2, wheel disc 3, arc groove one 31, arc groove two 32, eccentric disc 4, annular groove 41, blade 5, adjusting pin 6, core shaft 7, transmission shaft 8, spring seat 9, virtual circle 10, gear housing 11, convex part 111, gear set 12, robot body 13, servo motor 14, stepper motor 15, frame 16, outer shell 17, sealing cover 171, water tank 18, high-pressure gas cylinder 19, air release valve 20, solenoid valve 21, one-way valve 22, pipeline 23, filter screen 24. Specific implementation mode

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] It should be noted that when a component is referred to as "installed on" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "arranged on" another component, it can be directly arranged on the other component or there may be an intermediate component at the same time. When a component is considered to be "fixed to" another component, it can be directly fixed to the other component or there may be an intermediate component at the same time.

[0045] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present application.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0047] Embodiment 1

[0048] Please refer to Figure 1 , this embodiment provides an intelligent amphibious robot, which includes a body and a propulsion mechanism installed on the body. Among them, the body part includes: a frame 16 and a housing 17. The propulsion mechanism includes: a diving module, a counterweight module, four paddle composite wheels, four driving mechanisms, a water depth sensor, an angle sensor, and a controller. Among them, the frame 16 includes a bottom plate, a vehicle frame, and a middle frame from bottom to top. The three are fixed together by screws to form an integral body. The housing 17 is installed on the middle frame. It is installed from below through long hexagon socket head cap screws, passing through the bottom plate, the vehicle frame, and the middle frame in sequence, and finally connecting to the threaded holes on the housing 17. And when installing, waterproof glue is evenly applied between the contact surfaces of the parts, so that a sealed installation cavity is formed inside between the housing 17 and the bottom plate.

[0049] The diving module is arranged in the installation cavity and is used to provide gravity and buoyancy for the intelligent amphibious robot. The diving module includes a water tank 18, a high-pressure gas cylinder 19, an air release valve 20, a solenoid valve 21, a one-way valve 22, and a flow meter. Among them, the water tank 18 is fixed to the vehicle frame by screws, and an inlet is opened on each of the left and right sides of the water tank 18 to increase the water inlet speed of the water tank 18. An air inlet is opened at the upper end of the water tank 18, and a drain outlet is opened at the lower end. An installation seat is arranged on the middle frame in the installation cavity. The top of the installation seat is a semi-circular groove. In addition to having a sealing function, the top of the outer shell 17 is provided with a notch. The sealing cover 171 is fixed to the outer shell 17 by screws in the notch, and the bottom of the sealing cover 171 is also a semi-circular groove. This semi-circular groove and the semi-circular groove on the installation seat form a complete circle, and its formation just fits the outer contour of the high-pressure gas cylinder 19. The high-pressure gas cylinder 19 is placed on the installation seat through the notch. After closing the sealing cover 171, the high-pressure gas cylinder 19 is just clamped and fixed on the installation seat. As Figure 2 shown, the air release valve 20 is fixed to the middle frame by screws, and its air inlet valve port is connected to the air outlet of the high-pressure gas cylinder 19. The air outlet valve port of the air release valve 20 is connected to the air inlet of the water tank 18. Solenoid valves 21 for controlling the opening and closing of the water inlets are respectively arranged at the two water inlets of the water tank 18. Through holes are opened on the outer shell 17. The solenoid valves 21 are connected to the through holes through pipelines 23 so as to be able to intake water from the water body where they are located. In order to prevent foreign objects in the water body from entering the water tank 18, a filter screen 24 can also be arranged at the through holes of the outer shell 17. The one-way valve 22 is installed at the drain outlet of the water tank 18 and is also communicated with the environment outside the installation cavity. The opening direction of the one-way valve 22 is from the inside to the outside of the water tank 18. The flow meter is used to monitor the flow rates of the water inlets and the drain outlet and generate flow signals. It should be noted that in order to ensure the balance of the intelligent amphibious robot in the water and prevent it from tipping over when floating on the water, according to the actual situation, the installation positions of the frame 16, the diving module, and the supporting power system are adjusted so that the center of gravity of the intelligent amphibious robot is adjusted to the vertical center line of the vehicle frame.

[0050] The counterweight module includes a guide rail, a counterweight block, a moving mechanism, and a position sensor. Taking the forward direction of the intelligent amphibious robot as the first direction, the guide rail is installed on the vehicle frame, and its length direction is perpendicular to the first direction, and the guide rail needs to pass through the vertical center line of the frame 16. The counterweight block is slidably connected to the guide rail and can pass through the vertical center line of the frame 16 during subsequent adjustment and movement. The moving mechanism is used to drive the counterweight block to slide on the guide rail. In this embodiment, the moving mechanism can adopt a motor cooperating with a lead screw structure to drive the counterweight block to slide on the guide rail. The position sensor can detect the position of the counterweight block in real time and generate position signals.

[0051] Four paddle-wheel composite wheels are symmetrically installed on both sides of the frame 16, similar to the layout of a car tire. This allows the paddle-wheel composite wheels to act as walking wheels on land and also provide thrust in water. The following will introduce in detail from two aspects: the connection structure and the working principle of the paddle-wheel composite wheels.

[0052] I. Connection Structure of the Paddle-Wheel Composite Wheels

[0053] Please refer to Figure 3 , the paddle-wheel composite wheel includes a first wheel frame 1, a second wheel frame 2, a wheel disc 3, an eccentric disc 4, multiple paddles 5, multiple adjusting pins 6, a gear housing 11, a gear set 12, a core shaft 7, a transmission shaft 8, and multiple buffer mechanisms.

[0054] The first wheel frame 1 is fixed to the second wheel frame 2 through a bracket and they are coaxially arranged. This enables the outer rims of the first wheel frame 1 and the second wheel frame 2 to contact the ground and move in a rolling manner like ordinary wheels. In addition, the difference between the second wheel frame 2 and the first wheel frame 1 is that: on the side of the second wheel frame 2 away from the first wheel frame 1, there is a protruding portion 111 extending along its center, and the center of the protruding portion 111 is provided with an opening.

[0055] Please refer to Figure 4 and Figure 5 , Figure 5 For Figure 4 the A-A sectional view of, the wheel disc 3 is arranged between the first wheel frame 1 and the second wheel frame 2 and is coaxially connected to the second wheel frame 2 by screws. As shown in Figure 6 , Figure 7 , Figure 8 , both the wheel disc 3 and the second wheel frame 2 are provided with stepped holes at their centers. Bearings are installed in the stepped holes. The outer ring of the bearing is in interference fit with the stepped hole on a basic shaft system. The wheel disc 3 is also provided with multiple arc-shaped grooves one 31 and arc-shaped grooves two 32 that are evenly distributed in a ring along its center. The multiple arc-shaped grooves two 32 intersect with the multiple arc-shaped grooves one 31, and one of the arc-shaped grooves two 32 is concentric with an adjacent arc-shaped groove one 31. In this concentric group of arc-shaped grooves one 31 and arc-shaped grooves two 32, the arc-shaped groove one 31 is located outside the arc-shaped groove two 32 (the side close to the center is the inner side, and the side far from the center is the outer side). It should be noted that the arc-shaped groove one 31 needs to penetrate the wheel disc 3, while the arc-shaped groove two 32 can be selected to penetrate or not penetrate the wheel disc 3. Further, the parameter design of the arc-shaped groove one 31 and the arc-shaped groove two 32 has a certain influence on the movement of the paddle 5. Therefore, certain design is required to enable the paddle 5 to change its posture according to a preset trajectory. Please refer to again Figure 4, for the first arc groove 31, first, a virtual circle 10 is set along the center of the wheel disc 3. The diameter of the virtual circle 10 is greater than two-thirds of the diameter of the wheel disc 3. A plurality of uniformly distributed reference points are set on the virtual circle 10. The plurality of reference points correspond one by one to the plurality of first arc grooves 31 and serve as the centers of the corresponding first arc grooves 31. The central angle of the first arc groove 31 is set to 57°. For the second arc groove 32, the reference point also serves as the center of the second arc groove 32, and the central angle of the second arc groove 32 can also be set to 85°. The second arc groove 32 is located inside the first arc groove 31, and the second arc groove 32 and the same side of the first arc groove 31 differ by 6°, that is, the second arc groove 32 and the first arc groove 31 are designed with cross dislocation, providing a larger adjustment range and accuracy, while ensuring that the buffer mechanism in the second arc groove 32 has sufficient installation space and working stroke. To describe the specific setting of the wheel disc 3 clearly, an example is provided below: the diameter of the wheel disc 3 is set to 160 mm. The diameter of the virtual circle 10 is set to 140 mm. There are 9 equally divided reference points on the virtual circle 10. Taking one of the reference points as an example, the radius of the first arc groove 31 is 38.5 mm and the groove width is 5 mm. The radius of the second arc groove 32 is 21 mm and the groove width is 8 mm. Taking the side of the first arc groove 31 and the second arc groove 32 close to the center of the wheel disc 3 as the comparison object, the two differ by 6°.

[0056] The eccentric disc 4 is arranged between the wheel disc 3 and the second wheel bracket 2. It is worth mentioning that there is no fixed connection relationship between the eccentric disc 4 and the wheel disc 3 and the second wheel bracket 2, but it needs to maintain a coaxial position relationship with the wheel disc 3 and the second wheel bracket 2. The eccentric disc 4 can be set as a circle, and an annular groove 41 centered on the center of the eccentric disc 4 is opened on the side close to the wheel disc 3. It should be noted that the center of the eccentric disc 4 is different from the axis of the eccentric disc 4. The axis is the center of the rotation axis of the eccentric disc 4.

[0057] A plurality of blades 5 correspond one by one to the plurality of first arc grooves 31. A pin shaft is arranged at one end of each of the plurality of blades 5. The pin shaft penetrates through the blade 5 in the width direction of the blade 5 and exposes on both sides, so that one end of the pin shaft is rotatably connected to the first wheel bracket 1 and the other end is rotatably connected to the wheel disc 3, so that one end of the plurality of blades 5 is rotatably connected between the first wheel bracket 1 and the wheel disc 3. The plurality of blades 5 are annularly distributed around the axis of the wheel disc 3, that is, the pin shafts are annularly distributed around the axis of the wheel disc 3. Further, the plurality of blades 5 are all set in a tile shape, and the concave surface thereof is the acting surface, that is, the surface that applies force to the water body. The curved surface design of the tile-shaped blade 5 can optimize the hydrodynamic performance and improve the drainage efficiency.

[0058] The number of adjusting pins 6 is the same as the number of blades 5, and one blade 5 corresponds to one adjusting pin 6. Please refer to Figure 9, taking a set of blades 5 and adjusting pins 6 as an example, one end of the adjusting pin 6 is connected to the side of the blade 5 close to the wheel disc 3, and the other end penetrates through the second arc-shaped groove 32 and extends into the annular groove 41 of the eccentric disc 4. Similarly, one end of each adjusting pin 6 away from the blade 5 extends into the annular groove 41. Due to the nature of the eccentric disc 4, the distance of each adjusting pin 6 from the axis of the eccentric disc 4 is different, so that the angles of each blade 5 are different.

[0059] The mandrel 7 sequentially penetrates through the centers of the second wheel carrier 2, the eccentric disc 4, and the wheel disc 3. The mandrel 7 is rotationally connected thereto through bearings in the stepped holes at the centers of the second wheel carrier 2 and the wheel disc 3, and is connected to the eccentric disc 4 through a cam and a bearing block mounted on the mandrel 7, so as to drive the eccentric disc 4 to rotate and sequentially change the angles of each blade 5.

[0060] One ends of the mandrel 7 and the transmission shaft 8 both extend into the gear housing 11. The protruding portion 111 on the second wheel carrier 2 extends into the gear housing 11, and the mandrel 7 passes through the center of the protruding portion 111 and extends to the eccentric disc 4. The gear set 12 includes a driving gear and a driven gear. The driven gear is sleeved on the protruding portion 111. The driving gear is sleeved on the transmission shaft 8 and meshes with the driven gear, so that the transmission shaft 8 drives the second wheel carrier 2 to rotate, and further drives the first wheel carrier 1, the wheel disc 3, and multiple blades 5 to rotate synchronously.

[0061] A buffer mechanism is arranged in each second arc-shaped groove 32, and it can reduce the impact force received by the blade 5. Specifically, taking a buffer mechanism as an example, it includes a guide rod, a spring seat 9, and a spring. The guide rod can be set to be arc-shaped and is installed in the second arc-shaped groove 32 along its length direction. The spring seat 9 is fixed at the middle position of the blade 5, and one end of the spring seat 9 extends into the second arc-shaped groove 32. The spring is sleeved on the guide rod, one end of which is connected to the inner wall of the second arc-shaped groove 32, and the other end is connected to the spring seat 9. Since the angle of the second arc-shaped groove 32 is larger than that of the first arc-shaped groove 31, the spring has sufficient installation space and action stroke. In a complex underwater environment (such as turbulence and collision), the buffer mechanism can absorb the instantaneous impact force, increase the action time of the impact force, and extend the service life of the blade 5 and transmission components. In addition, the buffer mechanism can also reduce the disturbance of the sudden change of the force on the blade 5 to the overall system, ensuring the running stability, especially performing better during high-speed steering or sudden stop.

[0062] From the outside, the blade composite wheel composed of the above structure has an overall contour similar to that of an automobile tire, and its function on land is the same as that of an automobile tire. In water, it can provide thrust in all directions. Compared with existing amphibious robots, the blade composite wheel in this embodiment creatively replaces different propulsion methods in the amphibious environment with a new structure. While realizing the corresponding functions, it not only has a compact structure, reduced occupied volume, and is easy to control and maintain, but also can seamlessly switch the action mode in the amphibious environment, has high environmental adaptability, and good running smoothness.

[0063] II. Working Principle of Blade Composite Wheel

[0064] The driving mode of the blade composite wheel is as follows: The core shaft 7 is driven to rotate by the servo motor 14. The core shaft 7 drives the eccentric disc 4 to rotate. The transmission shaft 8 is driven to rotate by the stepping motor 15 and the reducer. The transmission shaft 8 drives the wheel frame 1 and the wheel frame 2 to rotate. On land, the blade composite wheel is equivalent to an ordinary wheel and rolls on the ground through the wheel frame 1, the wheel frame 2, and the wheel disc 3. When entering the water, multiple blades 5 play a role in rowing water.

[0065] Further analyze the action principle of the blade composite wheel in water. A similar double crank mechanism is formed among the center lines of the eccentric disc 4, the blade 5, and the wheel disc 3, as Figure 10 shown. Due to the limitation of the eccentric disc 4, after all the blades 5 are installed, the mechanism sketch can be drawn. Please refer to Figure 11 and Figure 12 . Through mechanical analysis, the model of the blade 5 in water is simplified as a straight rod. The velocity direction of the midpoint of the straight rod is used to replace the velocity directions of each point on the straight rod. In Figure 12 , the direction indicated by the arrow is the velocity direction of the midpoint of the straight rod (the velocity direction of the midpoint of the straight rod is obtained by drawing the relative velocity direction and the entrained velocity direction). Among them, the red arrow represents the direction of water flowing into the wheel, and the green arrow represents the direction of the blade 5 discharging water. According to the velocity direction of the midpoint of the straight rod, the effective area of the blade 5 discharging water at any moment can be made. Please refer to Figure 12, it is obvious to see the difference in the drainage volume of the blades 5 located in the upper and lower semi - circles of the blade compound wheel. Approximately, the blue area in the figure can be marked as the distribution state diagram of the drainage volume of the blade compound wheel. During the counter - clockwise rotation of the blade compound wheel, due to the eccentric design, the attitude of the blades 5 in the upper semi - circle is more inclined to the horizontal direction during rotation. This attitude causes the blades 5 in the upper semi - circle to drain water in the upper - left direction and is closer to the horizontal left, with a certain vertical upward component. The attitude of the blades 5 in the lower semi - circle is more inclined to drain water in the lower - right direction during rotation. This attitude causes the blades 5 in the lower semi - circle to not only drain water in the horizontal right direction but also have a certain vertical downward component. Therefore, the drainage direction of the blades 5 in the upper semi - circle is more biased towards the horizontal left, and the water will exert a reaction force to the right on the blades 5. The drainage direction of the blades 5 in the lower semi - circle is more biased towards the horizontal right, and the water will also exert a reaction force to the left on the blades 5, while the vertical components in the up - down direction are balanced with each other (or balanced considering factors such as gravity and buoyancy). And according to Figure 12 From the distribution of the blue area in

[0066] , it can be seen that the drainage volume of the lower semi - circle is greater than that of the upper semi - circle, that is, the reaction force to the left is greater than the reaction force to the right, so that the entire blade compound wheel will be subjected to a resultant force exerted by the water to the left. When the transmission shaft 8 drives the wheel disc 3, the first wheel frame 1, the second wheel frame 2, and the blades 5 to rotate, the core shaft 7 remains stationary, causing the blades 5 to move and drive the adjusting pin 6 to slide in the annular groove 41. Since the annular groove 41 is eccentric with respect to the center of the wheel disc 3, the adjusting pin 6 drives the blades 5 to swing, that is, changes the attitude of the blades 5. The geometric constraints of the first arc groove 31 and the second arc groove 32 ensure the linear response speed of the angle change of the blades 5. Combining with the continuous change of the rotation angle of the eccentric disc 4, high - precision control of the attitude of the blades 5 and stepless adjustment of the thrust direction of the blade compound wheel are realized. When the position of the eccentric circle driven by the core shaft 7 changes, the attitudes of the blades 5 at different semi - circles on the blade compound wheel are different, forming an omnidirectional thrust with a controllable resultant force direction.

[0067] In addition, during the design process of the paddle composite wheel, it should be noted that the eccentricity of the eccentric disc 4 should not be too small or too large. If the eccentricity is too small, the size of the paddle 5 will be reduced. When the large circle diameter is the same, the smaller the eccentricity, the shorter the theoretical length of the paddle 5, which will increase the number of paddles 5 and make the structure more and more complex. Or if the size of the paddle 5 remains unchanged, then as the eccentricity decreases, the difference in stress received by the upper and lower parts of the paddle composite wheel decreases, and the value of the resultant force received becomes smaller. In the extreme case, when the eccentricity is 0, this paddle composite wheel is the same as an ordinary paddle wheel and cannot function after being completely immersed in water. The eccentricity cannot be too large either. When the eccentricity increases, the length of the paddle 5 will increase. When the large circle diameter is the same, the number of paddles 5 will decrease, resulting in increasingly unstable power provided. Therefore, it is crucial to select an appropriate eccentricity and the corresponding number of paddles 5.

[0068] In the rotating paddle composite wheel, each paddle 5 will be affected by changes in fluid forces, especially changes in wind force and water flow force. The force on each paddle 5 will fluctuate as its position relative to the fluid changes during rotation. When the number of paddles 5 is odd, the fluctuations in the forces on each paddle 5 during the rotation period will be staggered from each other, forming a phase difference. If the number of paddles 5 is even, symmetry may be formed, leading to resonance. One of the main tasks of the paddle composite wheel is to generate a stable torque (i.e., the moment of rotation). If the number of paddles 5 is even, the fluctuations in the torque may have large periodic changes, resulting in large fluctuations and instabilities in the mechanical system. Therefore, to reduce the fluctuations in power, it is advisable to choose an odd number of paddles 5.

[0069] Please refer to Figure 13 , four drive mechanisms are used to independently drive the rotation of four paddle composite wheels, enabling the four paddle composite wheels to output different thrusts. Specifically, the drive mechanism includes: a servo motor 14 and a stepper motor 15, both of which are fixed on the frame 16. The output shaft of the servo motor 14 is directly connected to the core shaft 7. The output shaft of the stepper motor 15 is connected to the transmission shaft 8 through a set of bevel gears to drive its rotation.

[0070] The water depth sensor can detect the depth of the intelligent amphibious robot in water and generate a depth signal. The angle sensor can detect the roll angle and pitch angle of the intelligent amphibious robot in water and generate an angle signal.

[0071] The controller is the control core of the amphibious machine, and its main functions include the following:

[0072] (1) Determine the depth of the intelligent amphibious robot in water through the depth signal. If it is necessary to dive, close the one-way valve 22 and open the solenoid valve 21. The external water enters the water tank 18 through the filter screen 24, thereby increasing the overall gravity of the intelligent amphibious robot, making the overall density of the intelligent amphibious robot greater than the water density, and the intelligent amphibious robot starts to dive. If it is necessary to float, close the solenoid valve 21, open the one-way valve 22 and the air release valve 20, and introduce the high-pressure air in the high-pressure gas cylinder 19 into the water tank 18, so that the water in the water tank 18 is pushed by the gas and discharged from the one-way valve 22, thereby making the overall density of the intelligent amphibious robot less than the water density and increasing the overall buoyancy of the intelligent amphibious robot. According to the difference between the overall density of the intelligent amphibious robot and the water density, the diving and floating speeds of the intelligent amphibious robot can be controlled. If it is necessary to maintain suspension, monitor the water volume in the water tank 18 through the flow signal, and make the overall density of the intelligent amphibious robot the same as the density of the water body where it is located through the water storage capacity of the water tank 18 and the water inlet and drainage operations, so as to achieve the suspension state of the intelligent amphibious robot in water.

[0073] (2) In actual situations, due to the influence of random factors such as water waves, the intelligent amphibious robot may tilt or capsize when floating on the water surface. Control the roll angle of the intelligent amphibious robot through the counterweight module. Specifically, the controller judges the roll angle of the intelligent amphibious robot through the angle signal. First, perform initial calibration on the intelligent amphibious robot: place the intelligent amphibious robot on the horizontal detection platform to make the intelligent amphibious robot in a horizontal state, and at this time, detect the initial roll angle of the intelligent amphibious robot. If the initial roll angle is greater than 1°, drive the counterweight to move until the initial roll angle is less than 0.5°. After the initial calibration, the intelligent amphibious robot in water is dynamically adjusted through the controller: when the intelligent amphibious robot is in a floating state, if the roll angle detected through the angle signal is greater than 3°, control the counterweight to move in the corresponding direction through the position signal until the roll angle is less than 3°. When the intelligent amphibious robot moves underwater, the stable control of the intelligent amphibious robot can also be carried out through this control logic and in cooperation with the thrust direction of the paddle compound wheel.

[0074] (3) Judge the real-time pitch angle of the intelligent amphibious robot through the angle signal; if the real-time pitch angle is different from the preset target pitch angle (the target pitch angle is the pitch angle set by the system to ensure the safe operation of the intelligent amphibious robot), correct it through the thrust of the paddle compound wheel so that the real-time pitch angle is equal to the preset pitch angle.

[0075] (4) Independently control the four driving mechanisms to adjust the magnitude and direction of the thrust of the blade composite wheels in water. Both the servo motor 14 and the stepper motor 15 have speed feedback mechanisms. The controller performs closed-loop control on the speeds fed back by the servo motor 14 and the stepper motor 15 to accurately and real-time control the speeds of the four blade composite wheels. Specifically, the controller's adjustment of the blade composite wheels includes: 1. Control of the speed difference between the front and rear blade composite wheels; 2. Intelligent dynamic distribution of the thrust of the four blade composite wheels; 3. Thrust control for auxiliary stabilization of the blade composite wheels when the intelligent amphibious robot dives and floats.

[0076] For the first adjustment method, the controller calculates the pitch angle deviation of the intelligent amphibious robot in real time (which is equal to the target pitch angle minus the real-time pitch angle). According to the pitch angle deviation, correct the speeds and thrust directions of the front and rear blade composite wheels until the real-time pitch angle is equal to the preset pitch angle.

[0077] For the second adjustment method, the intelligent dynamic distribution method of the thrust of the four blade composite wheels includes the following steps:

[0078] S1. Generate the acceleration a in the vertical direction according to the preset diving speed plan of the intelligent amphibious robot. z . Real-time collect the roll angular acceleration of the intelligent amphibious robot and the pitch angular acceleration as well as in the forward direction of the intelligent amphibious robot, the resultant thrust F1 of the front two blade composite wheels, the resultant thrust F2 of the rear two blade composite wheels, the resultant thrust F3 of the left two blade composite wheels, and the resultant thrust F4 of the right two blade composite wheels. Among them, the magnitudes of F1 to F4 can be measured by the strain gauge sensors installed on the four wheel brackets 1.

[0079] S2. By changing the attitude of the blades 5 on the blade composite wheels, adjust the resultant force direction of F1 to F4 to control the forward direction of the intelligent amphibious robot.

[0080] According to F1 to F4, solve the thrust distribution matrix in real time to meet the requirements of hovering, floating, diving, rolling, and pitching of the intelligent amphibious robot. Among them, the thrust distribution matrix is:

[0081]

[0082] In the formula, F z is the resultant force in the Z-axis direction; m is the mass of the intelligent amphibious robot; M x is the moment about the X-axis; M y is the moment about the Y-axis; G is the gravity of the intelligent amphibious robot; d x is the force arm in the X-axis direction; d yis the lever arm in the Y-axis direction; I x is the moment of inertia about the X-axis; I y is the moment of inertia about the Y-axis.

[0083] Specifically, the requirements for the intelligent amphibious robot to hover, float, and dive are as follows: When F z is greater than G, the intelligent amphibious robot accelerates upward; otherwise, it accelerates downward. When F z is equal to G, the intelligent amphibious robot remains stationary or moves at a constant speed. The requirements for the pitch of the intelligent amphibious robot are as follows: When F1 is greater than F2, the intelligent amphibious robot pitches forward; otherwise, it pitches backward. When F1 is equal to F2, that is, when M x is 0, the intelligent amphibious robot maintains the current pitch angle. The requirements for the roll of the intelligent amphibious robot are as follows: When F3 is greater than F4, the intelligent amphibious robot rolls to the right; otherwise, it rolls to the left. When F3 is equal to F4, that is, when M y is 0, the intelligent amphibious robot maintains the current roll angle.

[0084] For the third adjustment method, during the diving and floating processes of the intelligent amphibious robot, the paddle composite wheel assists in stabilizing it through thrust. Specifically, when the intelligent amphibious robot dives and floats, thrust symmetry constraints are imposed to meet:

[0085]

[0086] At the same time, the roll angle φ of the intelligent amphibious robot is detected. If |φ| > 1°, then F3 and F4 are adjusted until |φ| < 0.5°, thereby preventing the intelligent amphibious robot from tipping over during floating and ensuring stability.

[0087] The intelligent dynamic thrust distribution method for the amphibious robot is based on the real-time settlement of the thrust distribution matrix of the four wheels, combined with feedback such as roll / pitch angular acceleration, and can achieve multi-degree-of-freedom real-time control. By adjusting the magnitude and direction of the thrust of the four wheels, it supports complex tasks, such as achieving underwater hovering, rolling, pitching, obstacle avoidance, and other complex actions. And through the intelligent thrust dynamic distribution method, the amphibious robot has an adaptive stability function in water, can automatically detect the roll angle and dynamically adjust the left and right thrusts, avoid the risk of tipping over, and improve its adaptability in complex and harsh water bodies. In addition, on the other hand, through the cooperation of the diving module and the paddle composite wheel, the intelligent amphibious robot can dive and float quickly and stably without easily tipping over or flipping forward. The diving module is inclined to provide downward force and upward buoyancy for the intelligent amphibious robot, so that the thrust of the paddle composite wheel can be more distributed in the direction of pushing the intelligent amphibious robot forward, thereby greatly improving the operation efficiency of the intelligent amphibious robot.

[0088] In this embodiment, the main structures such as the frame 16 and the housing 17 of the intelligent amphibious robot can be made of high impact polystyrene material, making the overall weight of the intelligent amphibious robot light and having good impact resistance. Part of the structure of the robot body 13 is simple and compact, and the mechanical transmission mechanism part is separated from the electrical control system, with good waterproof performance, facilitating disassembly, inspection of parts and debugging of programs, etc. In water, the paddle composite wheel structure is compact, the effective drainage area of the paddle 5 is large, and the overall efficiency is relatively high. By increasing the rotational speed of the stepping motor 15, the speed of the intelligent amphibious robot moving in water can be increased. On land, the wheeled structure is very efficient on flat ground. By controlling the servo motor 14 to adjust the distribution state of the paddle 5, the intelligent amphibious robot can move on most relatively flat terrains or slopes. Compared with the same type of robots, it has the advantages of a complete mechanical system, a compact structure, and good maneuverability in water.

[0089] Embodiment Two

[0090] This embodiment provides a diving and floating device, which includes the intelligent amphibious robot as in Embodiment One, and can achieve stable diving and floating in water.

[0091] Embodiment Three

[0092] This embodiment provides a method for intelligent dynamic thrust distribution of an intelligent amphibious robot, which is applied to the intelligent amphibious robot as in Embodiment One and is used to control the intelligent amphibious robot to move underwater. The method for intelligent dynamic thrust distribution of the intelligent amphibious robot includes the following steps:

[0093] S1. Generate the acceleration a in the vertical direction according to the preset diving speed plan of the intelligent amphibious robot. z . Real-time collect the roll angular acceleration of the intelligent amphibious robot and the pitch angular acceleration as well as the combined thrusts F1 of the first two paddle composite wheels, F2 of the rear two paddle composite wheels, F3 of the left two paddle composite wheels, and F4 of the right two paddle composite wheels in the forward direction of the intelligent amphibious robot. Among them, the magnitudes of F1 to F4 can be measured by the strain gauge sensors installed on the four wheel brackets 1.

[0094] S2. Adjust the direction of the resultant force of F1 to F4 by changing the attitude of the paddle 5 on the paddle composite wheel to control the forward direction of the intelligent amphibious robot.

[0095] According to F1 to F4, solve the thrust distribution matrix in real time to meet the requirements of hovering, floating, diving, rolling and pitching of the intelligent amphibious robot. Among them, the thrust distribution matrix is:

[0096]

[0097] Wherein, F z is the resultant force in the Z-axis direction; m is the mass of the intelligent amphibious robot; M x is the moment about the X-axis; M y is the moment about the Y-axis; G is the gravity of the intelligent amphibious robot; d x is the lever arm in the X-axis direction; d y is the lever arm in the Y-axis direction; I x is the moment of inertia about the X-axis; I y is the moment of inertia about the Y-axis.

[0098] Specifically, the requirements for the intelligent amphibious robot to hover, float, and dive are as follows: when F z is greater than G, the intelligent amphibious robot accelerates upward, and vice versa, it accelerates downward; when F z is equal to G, the intelligent amphibious robot remains stationary or moves at a constant speed. Among them, the magnitude of G of the intelligent amphibious robot can be adjusted through the diving module, that is, when the water tank 18 fills with water, G increases. When the water tank 18 drains water, G decreases. By using the diving module and the propeller compound wheel in combination, the output force of the propeller compound wheel in the vertical direction can be reduced, and it is easier to maintain the stability of the intelligent amphibious robot.

[0099] The requirements for the intelligent amphibious robot to pitch are as follows: when F1 is greater than F2, the intelligent amphibious robot pitches forward, and vice versa, it pitches backward. When F1 is equal to F2, that is, when M x is 0, the intelligent amphibious robot maintains the current pitch angle.

[0100] The requirements for the intelligent amphibious robot to roll are as follows: when F3 is greater than F4, the intelligent amphibious robot rolls to the right, and vice versa, it rolls to the left. When F3 is equal to F4, that is, when M y is 0, the intelligent amphibious robot maintains the current roll angle.

[0101] In addition, when the intelligent amphibious robot floats, a thrust symmetry constraint is performed to meet:

[0102]

[0103] At the same time, the roll angle φ of the intelligent amphibious robot is detected. If |φ| > 1°, then F3 and F4 are adjusted until |φ| < 0.5°, so as to prevent the intelligent amphibious robot from maintaining stability when floating and prevent it from tipping over.

[0104] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0105] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. An intelligent amphibious robot, characterized in that, It includes a main body and a propulsion mechanism installed on the main body; The propulsion mechanism includes: A diving module, which is used to provide gravity and buoyancy for the robot; A counterweight module, which is used to change the center-of-gravity position of the robot; Four paddle composite wheels, which are used to provide thrust in water and act as walking wheels on land; A water depth sensor, which is used to detect the depth of the robot in water to generate a corresponding depth signal; An angle sensor, which is used to detect the roll angle and pitch angle of the robot in water to generate corresponding angle signals; and A controller, which is used to control the propulsion mechanism to achieve two different propulsion modes: (1) Land propulsion mode: The controller controls the four paddle composite wheels to rotate synchronously to achieve the propulsion of the robot on land; (2) Underwater propulsion mode: (1) The controller controls the four paddle composite wheels to rotate independently to adjust the thrust magnitude and thrust direction of the corresponding paddle composite wheels in water to achieve the propulsion of the robot in water; (2) The controller judges the depth of the robot in water through the depth signal; if it is necessary to dive, it controls the diving module to increase the gravity of the robot; if it is necessary to surface, it controls the diving module to increase the buoyancy of the robot; if it is necessary to maintain suspension, it controls the diving module to change the overall density of the robot to be the same as the density of the water body it is in; (3) The controller judges the real-time roll angle and real-time pitch angle of the robot through the angle signal; If the real-time roll angle is greater than the preset roll angle, it controls the counterweight module to move until the real-time roll angle is less than or equal to the preset roll angle; If the real-time pitch angle is outside the preset pitch angle range, it controls the paddle composite wheels at the front and rear ends to rotate to generate an up-and-down thrust difference so that the real-time pitch angle is within the preset pitch angle range.

2. The intelligent amphibious robot according to claim 1, characterized in that, The diving module includes: a water tank (18), a high-pressure gas cylinder (19), a gas release valve (20), a solenoid valve (21), a check valve (22), a flow meter; the water tank (18) is provided with an air inlet, a water inlet and a drain outlet; the air inlet is connected to the high-pressure gas cylinder (19) through the gas release valve (20); the water inlet and the drain outlet are respectively controlled to be opened and closed through the solenoid valves (21, 22), and the opening direction of the check valve (22) is from the inside of the water tank (18) to the outside; the flow meter is used to monitor the flow rates of the water inlet and the drain outlet to generate corresponding flow signals; In the underwater propulsion mode, the controller is used to: if it is necessary to dive, close the check valve (22) and open the solenoid valve (21) to let water into the water tank (18) to increase the overall gravity of the robot; if it is necessary to surface, close the solenoid valve (21), open the check valve (22) and the gas release valve (20) to drain the water tank (18) to increase the overall buoyancy of the robot; if it is necessary to maintain suspension, monitor the water volume in the water tank (18) through the flow signal and make the overall density of the robot the same as the density of the water body it is in by controlling the water inlet and drainage of the water tank (18).

3. The intelligent amphibious robot according to claim 1, wherein The counterweight module includes a guide rail, a counterweight block, a moving mechanism, and a position sensor; the guide rail is installed on the main body; the counterweight block is slidably connected to the guide rail; the moving mechanism is used to drive the counterweight block to slide on the guide rail; the position sensor is used to detect the position of the counterweight block to generate a corresponding position signal; The center of gravity of the diving and floating mechanism is set on the vertical center line of the body; the guide rail is installed on the body along the first direction; the moving path of the counterweight passes through the vertical center line of the body; wherein, the first direction is the direction perpendicular to the advancing direction of the intelligent amphibious robot.

4. The intelligent amphibious robot according to claim 1, characterized in that, The paddle composite wheel includes: A first wheel frame (1) and a second wheel frame (2), which are used to contact the ground through the outer rim; A wheel disc (3), which is coaxially connected to the second wheel frame (2); a plurality of arc-shaped grooves one (31) are formed on the wheel disc (3) and are evenly distributed in a ring along its center; a plurality of arc-shaped grooves one (31) all penetrate through the wheel disc (3); An eccentric disc (4), which is located between the wheel disc (3) and the second wheel frame (2), and is coaxially arranged with the wheel disc (3); an annular groove (41) centered on the center of the eccentric disc (4) is formed on the side of the eccentric disc (4) close to the wheel disc (3); Paddles (5) corresponding to the plurality of arc-shaped grooves one (31) one by one, one end of which is rotatably connected to the first wheel frame (1), and the other end is rotatably connected to the wheel disc (3), and the plurality of paddles (5) are distributed in a ring with the axis of the wheel disc (3) as the center; the plurality of paddles (5) are used to provide thrust in water; Adjusting pins (6) corresponding to the plurality of paddles (5) one by one; one end of the adjusting pin (6) is connected to the side of the paddle (5) close to the wheel disc (3), and the other end penetrates through the corresponding arc-shaped groove one (31) and extends into the annular groove (41); A core shaft (7), which is used to drive the eccentric disc (4) to rotate, so as to change the angles of the plurality of paddles (5), and further adjust the direction of the thrust of the plurality of paddles (5); A transmission shaft (8), which is used to drive the second wheel frame (2) to rotate.

5. The intelligent amphibious robot according to claim 4, wherein, A plurality of arc-shaped grooves two (32) are formed on the side of the wheel disc (3) close to the first wheel frame (1) and are evenly distributed in a ring along its center; the plurality of arc-shaped grooves two (32) are arranged crosswise with the plurality of arc-shaped grooves one (31), and the arc-shaped groove two (32) is concentric with one of the adjacent arc-shaped grooves one (31); A buffer mechanism is arranged in each arc-shaped groove two (32) for reducing the impact force received by the paddle (5).

6. The intelligent amphibious robot according to claim 4, wherein The intelligent amphibious robot further includes four driving mechanisms, which are used to drive the four paddle composite wheels to rotate independently; The driving mechanism includes: A servo motor (14), which is installed on the body; the output shaft of the servo motor (14) is connected to the core shaft (7) for driving the core shaft (7) to rotate; A stepping motor (15), which is installed on the body; the output shaft of the stepping motor (15) is connected to the transmission shaft (8) for driving the transmission shaft (8) to rotate; The controller is further used for: independently controlling the rotation speed and rotation angle of the servo motor (14) and the stepping motor (15) to switch to the land propulsion mode or the water propulsion mode.

7. The intelligent amphibious robot according to claim 1, characterized in that, The body includes a frame (16) and a housing (17) installed on the frame (16); a sealed installation cavity is formed inside the housing (17); the diving module is arranged in the installation cavity; the four paddle composite wheels are symmetrically installed on both sides of the frame (16).

8. A diving and floating device, characterized in that, It includes the intelligent amphibious robot according to any one of claims 1 to 7.

9. A thrust intelligent dynamic allocation method for an intelligent amphibious robot, characterized in that, It is applied to the intelligent amphibious robot described in any one of claims 1 to 7, and is used to control the intelligent amphibious robot to move underwater; It includes the following steps: S1. Generate the acceleration a in the vertical direction according to the diving speed planning preset by the intelligent amphibious robot z ; Real-time acquisition of the roll angular acceleration of an intelligent amphibious robot and the pitch angular acceleration As well as in the forward direction of the intelligent amphibious robot, the combined thrust F1 of the first two paddle composite wheels, the combined thrust F2 of the last two paddle composite wheels, the combined thrust F3 of the two paddle composite wheels on the left, and the combined thrust F4 of the two paddle composite wheels on the right; S2. By changing the attitude of the blades (5) on the blade compound wheel, adjust the resultant force direction of F1 to F4 to control the forward direction of the intelligent amphibious robot; According to F1 to F4 are used to calculate the thrust distribution matrix in real time to meet the requirements of hovering, surfacing, diving, rolling and pitching of the intelligent amphibious robot; among them, the thrust distribution matrix is: Where, F z is the resultant force in the Z-axis direction; m is the mass of the intelligent amphibious robot; M x is the moment about the X-axis; M y is the moment about the Y-axis; G is the gravity of the intelligent amphibious robot; d x is the lever arm in the X-axis direction; d y is the lever arm in the Y-axis direction; I x is the moment of inertia about the X-axis; I y is the moment of inertia about the Y-axis.

10. The thrust intelligent dynamic distribution method of the intelligent amphibious robot according to claim 9, characterized in that, In S2, meeting the requirements of hovering, surfacing, diving, rolling and pitching of the intelligent amphibious robot includes the following conditions: When F z is greater than G, the intelligent amphibious robot accelerates upward; otherwise, it accelerates downward. When F z is equal to G, the intelligent amphibious robot remains stationary or moves at a constant speed. When F1 is greater than F2, the intelligent amphibious robot pitches forward, otherwise it pitches backward; when F1 is equal to F2, the intelligent amphibious robot maintains the current pitch angle; When F3 is greater than F4, the intelligent amphibious robot rolls to the right, otherwise it rolls to the left; when F3 is equal to F4, the intelligent amphibious robot maintains the current roll angle.

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