Amphibious detection robot device

Abstract

The invention discloses an amphibious detection robot device, and belongs to the technical field of robots. The device comprises a head structure, a body part, a four-foot part and a machine tail, fish body swinging and a submarine propelling system are integrated, the four retractable feet are additionally arranged, and the device adapts to the land and water environment. The underwater is efficiently propelled by the ring blade type propeller, and the tail joint flexibly turns, so that sludge winding is avoided; the four feet on the land are supported in a triangular mode, the stability is enhanced through automatic attachment of the gaskets, and switching is fast and smooth. The head laser radar performs 360-degree detection and autonomous obstacle avoidance, and is matched with a searchlight and a camera to adapt to a dark and turbid environment, the provided amphibious rescue detection machine integrates the forms of fishes and submarines, four feet are added, multiple functions of detection, sinking and floating, turning, advancing, amphibious conversion and the like are integrated, and the amphibious rescue detection machine has the advantages of being simple in structure and convenient to use. And the intelligent level of the detection machine in a severe environment is obviously improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an amphibious exploration robot device. Background Technology

[0002] Severe rainstorm disasters are extremely serious natural disasters caused by extreme rainfall, resulting in severe urban flooding, river floods, landslides, and other concurrent disasters, causing significant casualties and property damage. Disasters like floods pose enormous challenges to emergency rescue capabilities. Floods can rapidly inundate low-lying areas and city streets, causing buildings to collapse, people to be trapped, and even loss of life and property. Traditional rescue methods often face many limitations, such as low underwater visibility, high search and rescue difficulty, and tight search and rescue time, all of which seriously affect rescue efficiency and success rates.

[0003] Recent accident statistics show that drowning accidents in water are frequent and increasing year by year. Even those who specialize in diving face risks of drowning and poisoning during their work. With increasing emphasis on the right to life, the pursuit of personal safety is becoming more prominent and highly valued. It can be predicted that the use of advanced technological equipment to assist in underwater rescue will inevitably become a new trend in the development of underwater rescue equipment.

[0004] To address these challenges and circumvent the aforementioned problems, an innovative approach has been adopted, utilizing advanced robotics, particularly submarine-like mechanical devices, to perform underwater rescue missions. These robots are capable of free movement and stable operation underwater, equipped with high-precision sensors and communication devices to aid in the search for stranded individuals. They not only possess the ability to operate in complex underwater environments but also enhance rescue efficiency and safety through real-time data transmission and remote operation. Compared to human search and rescue, these cross-domain intelligent amphibious robots are more flexible, precise, and timely. They can quickly locate stranded individuals during the search process, providing detailed feedback on water quality and environmental conditions, offering crucial information support to rescue personnel. Overall, this new underwater rescue technology represents the positive application of technological innovation in addressing natural disasters and complex environmental challenges. By combining engineering technology with bio-inspired design, these innovative robots not only improve rescue efficiency but also demonstrate the enormous potential of technology in enhancing human safety and protecting the environment.

[0005] Since the birth of the first underwater robot in the 1950s, the development of underwater robots has progressed rapidly with the advancement of related technologies. Underwater robots have emerged for various purposes, including seabed exploration, experimentation, sampling, salvage, rescue, and engineering construction, with increasingly better performance and greater operating depths. These underwater robots play a vital role in various complex and harsh environments, replacing human labor in areas such as exploring water quantity and quality, promptly detecting hazards, and rescuing trapped personnel. In recent years, many countries, including the United States, the United Kingdom, France, Italy, Russia, Japan, and Sweden, have made this a key national research project and have conducted extensive work in this area. Various types of underwater robots have been developed, each with its own technological advantages, such as the small, inexpensive BLUEROV for observation, the medium-sized Seaeye robot for observation and operational purposes, and the Super Scorpio robot for oil extraction operations.

[0006] In recent years, the field of underwater robotics has witnessed a surge of technological innovations, particularly in the application of artificial intelligence, machine learning, and big data processing. These technologies enable underwater robots to better understand their surroundings and make intelligent decisions. The use of new materials, such as lightweight, high-strength, and corrosion-resistant materials, has enhanced the performance and durability of robots. Furthermore, modular design allows robots to quickly replace functional modules according to mission requirements, while economical design and improved energy management technologies have reduced production and operating costs and extended operating time. These advancements have led to the widespread application of cross-domain intelligent amphibious robots in more fields, driving the development of marine science, environmental protection, and industrial technology.

[0007] In earthquake relief scenarios, amphibious robotic fish face numerous challenges, including switching between water and land, adapting to complex environments, and monitoring and communication. These challenges will be detailed below, reflecting the specific working conditions during disaster relief:

[0008] 1. The challenge of adapting water and land movement to structural design:

[0009] 1) Low efficiency in switching between water and land. Most models have difficulty adapting to the movement logic of the two environments quickly. Underwater, they rely on the swinging of the tail fin for propulsion. However, when they arrive at the muddy and gravel roads in the post-earthquake ruins, the pectoral fins or auxiliary crawling parts are prone to slipping, the turning radius becomes larger, and they cannot quickly transfer to different search and rescue areas.

[0010] 2) The structure is fragile and lacks sufficient compressive strength. In post-earthquake waters, there may be sharp objects such as steel bars and rubble from collapsed buildings, which can easily tear its commonly used polydimethylsiloxane flexible shell.

[0011] 3) Poor power efficiency: The power efficiency of its wave propulsion system can only reach 20% of that of eel larvae. When turning, it will generate non-force drag exceeding the design value by 63%. It is easily swept away in the turbulent water after the earthquake. When moving on land, the energy consumption is even higher, and the range is further shortened.

[0012] 2. Insufficient sensing and detection accuracy:

[0013] Accurate detection of underwater trapped individuals or remains is crucial in disaster relief, but sensors are susceptible to interference from the post-earthquake environment. Visual systems present significant challenges; biomimetic visual modules not only add considerable weight but also suffer from night vision illumination deficiencies. Post-earthquake waters are often murky and poorly lit, making cameras prone to focusing malfunctions and unable to clearly transmit target information. Furthermore, fault diagnosis capabilities are weak. Existing methods rely on specific fault models, making it difficult to promptly identify unknown faults such as sensor dampness or impacts after an earthquake, leading to distorted detection data.

[0014] 3. Control and communication coordination barriers:

[0015] 1) The course control is difficult. After the earthquake, the water flow is turbulent and there are unstable flow fields such as vortices. The high-frequency shaking generated by the flexible swing of the robotic fish will interfere with the course closed-loop control. The disturbance caused by nonlinear hydrodynamics is prone to yaw error, making it difficult to accurately locate the trapped person.

[0016] 2) Communication is easily interrupted. Collapsed buildings after an earthquake can block signals, and underwater communication itself suffers from signal attenuation. The communication module cannot transmit detection data in real time in turbid water or under the obstruction of rubble, and it is also difficult to receive remote control commands. In addition, multi-machine coordination capability is lacking. There is currently little research on fault-tolerant control of multi-robot fish. If multiple devices are deployed for search and rescue, if one fails, it is impossible to ensure search and rescue coverage through coordination and replacement, which can easily lead to detection blind spots.

[0017] 4. Shortcomings in practicality for disaster relief scenarios:

[0018] 1) The size and operating space are incompatible. In order to carry detection equipment, some models are designed to be bulky. However, underwater search and rescue after an earthquake often requires entering narrow pipes and narrow waters formed by collapsed buildings, which these models cannot pass through. On the other hand, smaller models have insufficient load capacity and cannot carry multiple disaster relief equipment such as high-definition cameras and life detectors at the same time.

[0019] 2) The operation and maintenance threshold is high. Most of the personnel at the disaster relief site are non-professional technicians, while troubleshooting and parameter adjustment of the robotic fish require professional knowledge. In addition, the difficulty of waterproofing and maintaining the equipment increases in the humid environment after the earthquake, and it is difficult to repair quickly once a fault occurs.

[0020] 3) Poor environmental compatibility: Post-earthquake waters may be contaminated with oil and chemical pollutants. Although graphene-modified fiber membranes and other materials are corrosion-resistant, they are also biologically toxic. The alternative materials used are not durable enough and are prone to aging after long-term immersion, which affects the stability of the detection. Summary of the Invention

[0021] The purpose of this invention is to provide an amphibious exploration robot device that integrates the shapes of fish and submarines and adds four legs, integrating multiple functions such as detection, buoyancy, turning, forward movement, and amphibious transformation, significantly improving the intelligence level of the exploration machine in harsh environments.

[0022] To solve the above-mentioned technical problems, the present invention provides an amphibious exploration robot device, comprising:

[0023] A head structure, comprising a head shell, a detection component, and a counterweight device; the counterweight device is installed inside the head shell, and the detection component is installed outside the head shell.

[0024] The body part includes a body shell, a tail section shell, a tail section shell, a gyroscope module, and a first-stage servo motor connected in sequence; the body shell is connected to the head shell, the gyroscope module and the first-stage servo motor are installed inside the body shell composed of the body shell, the tail section shell, and the tail section shell, the output shaft of the first-stage servo motor is connected to the pectoral fin shell, and the pectoral fin shell is located outside the body shell;

[0025] The four-legged part is installed around the body part;

[0026] The tail section of the machine includes a three-section tail housing, a brushless motor, and a ring-bladed propeller; the two-section tail housing is connected to the three-section tail housing, the output shaft of the brushless motor is connected to the ring-bladed propeller, and the ring-bladed propeller is installed at the tail end of the three-section tail housing.

[0027] Preferably, the output shaft of the first-stage servo motor is connected to the pectoral fin housing, specifically:

[0028] An axial gear is mounted on the output shaft of the first-stage servo motor;

[0029] The axial gear meshes with the vertical gear;

[0030] The vertical gear is sleeved on the coupling;

[0031] The coupling extends out of the body housing at both ends and is respectively fixedly installed with a first optical shaft and a second optical shaft.

[0032] One end of the first optical axis and the second optical axis are rotatably connected to the outer side of the body shell, and the other end of the first optical axis and the second optical axis are connected to the top of the pectoral fin shell through a two-hole connecting piece and a suspension.

[0033] Preferably, one end of the pectoral fin shell is hinged to the fourth optical axis;

[0034] The fourth optical axis is connected to the fixed cover via the third optical axis;

[0035] The fixed cover is fixedly connected to the outer side of the body shell.

[0036] Preferably, the other ends of the first and second optical axes are connected to the top of the pectoral fin shell via a two-hole connecting piece and a suspension, specifically:

[0037] One end of the two-hole connecting piece has a hole in the center and is fixedly connected to a first or second optical axis. The other end of the two-hole connecting piece has a hole at the bottom and is connected to the suspension through a fixed beam.

[0038] The suspension is connected to the support plate on top of the pectoral fin shell.

[0039] Preferably, the primary servo motor is fixed to the body shell by a servo motor retainer;

[0040] The control board and gyroscope module are installed around the primary servo motor.

[0041] Preferably, the four-legged portion includes four forelimbs and four hindlimbs;

[0042] The four forelimbs are equipped with four-legged pads at their tail ends;

[0043] The first end of each of the four forelimbs is equipped with a second four-legged three-stage servo motor;

[0044] The output shaft of the second quadrupedal three-stage servo motor is connected to the tail end of the quadrupedal hind limbs;

[0045] A first bearing is fixedly installed on each of the four hind limbs;

[0046] The first bearing is connected to the four-legged pad via a retractable push rod;

[0047] The proximal ends of the four hind limbs are mounted on the output shaft of a four-legged two-stage servo motor that can rotate up and down;

[0048] The quadrupedal secondary servo is mounted on the output shaft of the quadrupedal primary servo, which can rotate back and forth.

[0049] Preferably, the detection components include a searchlight, a camera, and a lidar module;

[0050] The front end of the head shell is made of transparent silicone. The searchlight is fixedly installed on both sides of the front end of the head shell. The camera is installed inside the head shell, with the camera lens facing the transparent silicone.

[0051] The lidar module is mounted on the bottom of the head shell via a support suspension.

[0052] Preferably, the counterweight device includes a counterweight block, a front support, a rear support, and a lead screw motor;

[0053] The front bracket and the rear bracket are fixedly connected;

[0054] The lead screw motor is mounted on the rear bracket.

[0055] The counterweight is mounted on the slider of the lead screw motor.

[0056] Preferably, the lead screw of the lead screw motor is arranged along the length direction of the amphibious exploration robot.

[0057] Preferably, the control board is an STM32 control board.

[0058] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0059] This device integrates the turning characteristics of fish and the propulsion characteristics of submarines. When operating in complex waters, it is powered by a cross-bladed propeller, and the swinging of the tail joint enables turning. This reduces the probability of the machine being entangled or disturbed by mud and other debris in complex waters. Furthermore, the ring-bladed propeller was designed by adjusting the ring blade pitch through simulation, resulting in significant breakthroughs in both propulsion efficiency and hydrodynamic performance. When switching to land mode, the transformation is made more stable and smooth through push rods and leg servos. On land, the push rod and legs form a triangle, and the push rod length can be adaptively adjusted according to the pitch changes of the forelimbs. Foot pads are also designed to open autonomously during mode switching, increasing the force-bearing area and making land operation more stable. An autonomous detection module is designed at the head of the machine. Through the cooperation of two motors, the lidar can detect obstacles 360° and autonomously avoid obstacles. Detection lights provide a clearer field of vision, and when necessary, cameras can take pictures of the front of the machine, enhancing the system's multi-functional integration. Attached Figure Description

[0060] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0061] Figure 1 This is a schematic diagram of the overall structure of an amphibious robot;

[0062] Figure 2 This is a schematic diagram of the internal structure of an amphibious robot;

[0063] Figure 3 This is a schematic diagram of the head structure;

[0064] Figure 4 This is a structural diagram of the four legs;

[0065] Figure 5 This is a schematic diagram of the structure at the rear of the machine;

[0066] Figure 6 This is a schematic diagram of the counterweight device;

[0067] Figure 7 This is a schematic diagram of the structure of a lidar module.

[0068] In the diagram: 1-Head shell; 2-Pectoral fin shell; 3-Four-legged forelimbs; 4-Tail section shell; 5-First four-legged third-stage servo; 6-Propeller protective shell; 7-Tail section shell; 8-Four-legged third-stage servo; 9-Four-legged hindlimbs; 10-Tail section shell; 11-Body shell; 12-Searchlight; 13-Transparent silicone; 14-LiDAR module; 15-Connecting screw; 16-Support plate; 17-Suspension; 18-Four-legged pad; 19-Push rod; 20-Four-legged first-stage servo bracket; 21-Four-legged first-stage servo; 22-Brushless motor; 23-Fourth-stage connecting plate; 24-Third-stage connecting plate; 25-First bearing; 26-Second-stage connecting plate; 27-First-stage connecting plate; 28-Control board; 29-Axial gear; 30-Vertical gear; 31-Fixed beam; 32-Aluminum profile; 33-Model aircraft battery; 34-Fourth optical axis; 35-Coupling; 36-Two-hole connecting piece; 37-Gyroscope module; 38-Camera; 39-First-stage servo; 40-Second bearing; 41-Fifth optical axis; 42-Four-legged second-stage servo bracket; 43-Third-stage servo; 44-Second-stage servo; 45-Bearing housing; 46-Servo retainer; 47-Push rod motor; 48-Four-legged second-stage servo; 49-Annular blade propeller; 50-First flange; 51-Front bracket; 52-Second flange; 53-Lead screw; 54-Counterweight; 55-Slider; 56-Lead screw retainer; 57-Rear bracket; 58-Lead screw motor; 59-Vertical motor; 60-Support suspension; 61-Horizontal motor; 62-Frustum; 63-Cover; 64-Connector; 65-First optical axis; 66-Second optical axis; 67-Third optical axis; 68-Fixed cover. Detailed Implementation

[0069] Numerous specific details are set forth in the following description to provide a full understanding of the invention. However, the invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0070] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this specification. The singular forms “a,” “described,” and “the” as used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0071] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this specification, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0072] The present invention will now be described in further detail with reference to the accompanying drawings:

[0073] This invention provides an amphibious exploration robot that integrates high flexibility, high performance, rescue, and exploration capabilities, giving it excellent performance in underwater cruising efficiency, water maneuverability, and land stability. Figure 1 As shown, it includes:

[0074] Head structure: Head shell 1, Pectoral fin shell 2, Searchlight 12, Transparent silicone 13, LiDAR module 14, Connecting screw 15, Support plate 16, Suspension 17, Axial gear 29, Axial gear 30, Fixed beam 31, Aluminum profile 32, Model aircraft battery 33, Fourth optical axis 34, Coupling 35, Two-hole connecting piece 36, Gyroscope module 37, Camera 38, Front bracket 51, Second flange 52, Lead screw 53, Counterweight 54, Slider 55, Lead screw retainer 56, Rear bracket 57, Lead screw motor 58, Vertical motor 59, Support suspension 60, Horizontal motor 61, Frustum 62, Cover 63.

[0075] Body parts: Tail section 1 shell 4, Tail section 2 shell 10, Body shell 11, Fourth-level connecting plate 23, Third-level connecting plate 24, Second-level connecting plate 26, First-level connecting plate 27, Control board 28, First-level servo 39, Third-level servo 43, Second-level servo 44, Servo retainer 46, First flange 50.

[0076] Four-legged components: four-legged forelimbs 3, first four-legged third-level servo 5, four-legged hindlimbs 9, four-legged pads 18, push rods 19, four-legged first-level servo bracket 20, four-legged first-level servo 21, first bearing 25, second bearing 40, fifth optical axis 41, four-legged second-level servo bracket 42, bearing housing 45.

[0077] Tail end of the machine: propeller protective shell 6, tail three-section shell 7, brushless motor 22, ring blade propeller 49.

[0078] This invention integrates the swaying system of a fish and the propulsion system of a submarine in its overall appearance. It combines the advantages of a fish's agility and small turning radius with the efficient propulsion of a tail propeller. Furthermore, it incorporates a retractable four-legged structure. Through material selection and mechanical simulation analysis, the invention can adapt to both terrestrial and aquatic environments. Due to its fish-like characteristics and propeller propulsion, it avoids the problems of traditional devices being entangled in silt, having a large turning radius, and being difficult to maneuver in harsh underwater environments. The invention enhances the durability of the structure, preventing corrosion and damage. It also ensures sufficient load-bearing capacity and stability, enabling effective navigation in narrow or complex underwater environments.

[0079] This invention employs lidar to acquire detailed information about the underwater environment. These sensors help the robot identify obstacles, detect water currents, and assess environmental conditions. Simultaneously, we have developed an underwater positioning system to assist the robot in underwater positioning and navigation.

[0080] Considering that the invention is primarily used in harsh environments, and that the fuselage should be lighter and consume less energy, this invention employs lightweight, high-strength composite materials. Therefore, to ensure good connection and coordination between the servos, the internal connectors are made of high-toughness resin, achieving a higher standard of toughness while maintaining hardness. Externally, the outer shell is first 3D printed using PLA material, then encapsulated with epoxy resin. Furthermore, to achieve a more sealed and waterproof effect, a composite of epoxy resin and curing agent is applied and sealed at the component connections and on the surface of the circuit control board, resulting in better waterproofing during operation while maintaining both hardness and toughness. In the quadruped system, the hardware of the four legs is made of carbon fiber, providing better support for the fuselage and enabling the intended functions.

[0081] To better illustrate the technical effects of the present invention, the present invention provides the following specific embodiments to illustrate the above technical process:

[0082] Example 1: An amphibious exploration robot device, comprising: a head shell 1, a pectoral fin shell 2, four forelimbs 3, a tail section shell 4, a first four-legged three-stage servo motor 5, a propeller protective shell 6, a tail section shell 7, a second four-legged three-stage servo motor 8, four hindlimbs 9, a tail section shell 10, a body shell 11, a searchlight 12, transparent silicone 13, a lidar module 14, connecting screws 15, a support plate 16, a suspension 17, four-legged pads 18, a push rod 19, a four-legged first-stage servo motor bracket 20, a four-legged first-stage servo motor 21, a brushless motor 22, a fourth-stage connecting plate 23, a third-stage connecting plate 24, a first bearing 25, a second-stage connecting plate 26, a first-stage connecting plate 27, a control board 28, an axial gear 29, a vertical gear 30, a fixed beam 31, and an aluminum profile. 32. Model aircraft battery; 33. Fourth optical axis; 34. Coupling; 35. Two-hole connecting piece; 36. Gyroscope module; 37. Camera; 38. First-level servo; 39. Fifth optical axis; 41. Second bearing; 40. Quadrupedal second-level servo bracket; 42. Tertiary servo; 43. Second-level servo; 44. Bearing seat; 45. Servo retainer; 46. Push rod motor; 47. Quadrupedal second-level servo; 48. Ring-bladed propeller; 49. First flange; 50. Front bracket; 51. Second flange; 52. Lead screw; 53. Counterweight; 54. Slider; 55. Lead screw retainer; 56. Rear bracket; 57. Lead screw motor; 58. Vertical motor; 59. Support suspension; 60. Horizontal motor; 61. Frustum; 62. Cover; 63. Connector; 64. First optical axis; 65. Second optical axis; 66. Third optical axis; 67. Fixed cover; 68.

[0083] The head structure can perform detection functions through searchlights, cameras, and lidar modules. By modifying the lead screw, the machine can achieve the effect of sinking and floating in water. The machine can achieve balance in water by swinging the fin structure through gear transmission.

[0084] The machine can turn in water by moving the servo motors at the joints, which greatly improves the machine's flexibility.

[0085] The four legs, controlled by servo motors, enable walking on land, and push rods allow for free extension and retraction of the legs, allowing for better fit with the machine in water and reducing the drag coefficient.

[0086] The tail section can be powered by an interleaved propeller, and the outer casing protects the propeller.

[0087] The working principle of the amphibious exploration robot device of the present invention is as follows:

[0088] 1. Detection System

[0089] The transparent silicone 13 can better fit the machine and is clear and transparent. When the machine is working, the spotlight 12 can illuminate the front of the machine. The camera 38 can take pictures and record in the required environment in conjunction with the lidar module 14. In addition, the lidar is suspended at the low end of the head by the support suspension 60. The lidar module 14 can be rotated 360° by the horizontal motor 61 and the vertical motor 59. The feedback data is transmitted to the control board 28 to realize the autonomous obstacle avoidance function.

[0090] 2. Underwater Motion System

[0091] Head Design: The outer shell of the robot is connected and fixed by connecting screws 15, and the surface of the shell is sealed with epoxy resin to achieve waterproofing. To ensure the robot's stability underwater, appropriate counterweights are added to the lower cavity based on the principle of a roly-poly toy. This adjusts the robot's own weight to balance buoyancy and adjusts the robot's center of gravity to ensure its stable posture, thus ensuring stable swimming. The counterweight device is installed inside the robot's head. The counterweight module is fixedly constructed by aluminum profile 32, front bracket 51, and rear bracket 57. The lead screw motor 58 is hidden in the rear bracket, and the counterweight block 54 is fixed to the slider 55. The movement of the lead screw 53 can shift the center of gravity, thereby achieving buoyancy. This module design is low-cost, simple to operate, not easily damaged, and more stable during operation.

[0092] To maintain balance, a fin-like structure was independently designed to swing, with the axial gear 29 providing the power source. The vertical gear 30 then controls the swing of the suspension 17. Furthermore, the gyroscope module 37 can transmit dynamic data of the fuselage. Combined with the adaptive rotation of the first-level servo motor 39, the swing of the pectoral fin shell 2 can be achieved, which is the main source of the machine's balance in the water.

[0093] To maintain balance, a self-designed fin-like oscillation structure is incorporated. The coupling 35 has a first optical axis 65 and a second optical axis 66 fixed at both ends. Taking the second optical axis 66 as an example: externally, the upper side of the body shell 11 is fixed via the second optical axis 66 (the second optical axis 66 is a 37mm optical axis), and the fixing cover 68 is fixed to the lower side of the body shell 11, thus fixing the internal structure to the shell. Inside, an axial gear 29 provides the power source, and then a vertical gear 30 controls the rotation of the second optical axis 66. This transmission controls the oscillation of the pectoral fin shell 2. First, the lower fixing cover 68 is fixed to the pectoral fin shell 2. The coupling 35 fixes the second optical shaft 66, making its movement more stable. Through gear calculation, the rotation of the second optical shaft 66 can directly drive the swing of the two-hole connecting piece 36. One end of the two-hole connecting piece 36 has an opening in the middle to assemble with the second optical shaft 66. When the second optical shaft 66 rotates around its own axis, it will synchronously drive the two-hole connecting piece 36 to swing in an arc. The other end of the two-hole connecting piece 36 has an opening at the bottom and is hinged to the suspension 17 through the fixed beam 31. When the two-hole connecting piece 36 swings, it can drive the suspension 17 to pull the pectoral fin shell 2 up and down through the support plate 16. This is the degree of freedom of the support plate 16 swinging. In addition, the gyroscope module 37 can transmit the dynamic data of the fuselage. Combined with the adaptive rotation of the first-stage servo motor 39, the swing of the pectoral fin shell 2 can be achieved, which is the main source of the machine's balance in the water.

[0094] Body design: To ensure the waterproofness of the shell and the stability of the connection, the contact area should be increased as much as possible. Therefore, an embedded connection is adopted, and the connector 64 is shown in the figure.

[0095] Inside the outer shell, the primary servo motor 39 serves as the power source for the head and is fixed to the outer shell by the servo motor retainer 46. The control board 28 and the gyroscope module 37 are attached around the primary servo motor 39. The primary connecting piece 27 is used to connect the rear joint servo motor. Each joint is connected by the secondary connecting piece 26, the tertiary connecting piece 24, etc., and is connected to the servo motor by the first flange 50. The gyroscope module 37 integrated by the MPU6050 can capture the amphibious robot's attitude change data in three-dimensional space at high frequency and high precision, providing key support for achieving flexible, stable and realistic swimming control, enabling the robot to adapt to complex water flow environments, complete preset action tasks, and enhance functionality.

[0096] Tail-end design: The tail-end design includes a propeller propulsion system and a brushless motor system. The design of the annular blade propeller 49 significantly improves propulsion efficiency. The brushless motor 22 plays a crucial role in power propulsion, particularly in controlling the stability and direction of the tail section, ensuring stable propulsion under various water flow conditions. The propeller protective casing 6 effectively protects the propeller from the influence of external debris.

[0097] The ring-bladed propeller 49 has the following advantages:

[0098] 1. Higher efficiency in implementation:

[0099] (1) In the medium speed range, the thrust and efficiency of the annular propeller are superior to those of conventional propellers and unconventional propellers such as KAPPEL and CLT.

[0100] (2) By controlling the flow at the tip through the closed structure at the tip, energy loss, especially tip vortex loss, is reduced, thereby improving the overall propulsion efficiency.

[0101] 2. Outstanding tip vortex control capability:

[0102] (1) Traditional propellers have the problem of double tip vortex, while KAPPEL propellers have the problems of back cavitation and noise.

[0103] (2) The annular propeller forms an annular structure by bending the front and rear tips of the propeller, which can effectively suppress tip vortex cavitation and reduce energy loss.

[0104] 3. Quadrupedal locomotion system

[0105] This machine features a retractable quadruped structure to adapt to both land and underwater environments. Underwater, it fits snugly against the machine's body, reducing drag. When switching modes, the quadruped's secondary servo 48 and the first quadruped tertiary servo 5 swing to open the quadrupeds. The primary servo 21 and the secondary servo 48 work together to achieve land movement. The push rod 19 makes the retraction function more effective and flexible. When walking on land, the quadrupeds form a triangular posture with the forelimbs 3, increasing stability. A flexible rotating quadruped pad 18 is also included. The forelimbs 3 are hinged to the pad 18 via the fifth optical axis 41 and the second bearing 40. The pad 18 is also fixed to the push rod 19, automatically ensuring that when the quadrupeds are retracted, they fit snugly against the forelimbs 3, and when they are open, they lie flat against the ground, increasing the contact area with the ground and reducing pressure on the legs, thus better adapting to various complex environments.

[0106] The quadrupedal forelimbs 3 are embedded in the second quadrupedal tertiary servo motor 8, and the output shaft is connected to the quadrupedal hindlimbs 9 via screws. The quadrupedal hindlimbs 9 are connected to the first bearing 25 and the push rod 19 via an optical shaft. When the robot walks on land, the quadrupedal primary servo motor 21 rotates forward, driving the left forelimb forward. At the same time, the quadrupedal secondary servo motor 48 rotates upward, driving the quadrupedal hindlimbs 9 upward. The second quadrupedal tertiary servo motor 8 rotates upward, and the push rod 19 shortens, completing the upward movement of the legs. Subsequently, the quadrupedal secondary servo motor 48 rotates downward, driving the quadrupedal hindlimbs 9 downward. The second quadrupedal tertiary servo motor 8 rotates downward, and the push rod 19 extends, causing the quadrupedal pads 18 to turn towards the ground to increase the force-bearing area, completing the walking motion of the left forelimb. When the robot moves forward, the left forelimb and right hindlimb walk simultaneously, and after completion, the left hindlimb and right forelimb walk alternately to complete the movement.

[0107] This amphibious robot integrates both aquatic and terrestrial locomotion modes. In water, it combines the advantages of fish and submarines, achieving flexible movement and high power output. The amphibious robot adopts a fish-shaped design, with servo motors at the mid-rear to control joint movement for turning. A brushless motor and a ring-bladed propeller at the tail provide powerful propulsion. This fish-tail-submarine-like optimized design mimics the body shape and movement of fish, reducing drag; the tail propeller mimics the propulsion method of a submarine, providing strong power. This allows for rapid traversal of water to complete rescue missions and ensures the amphibious robot can quickly adjust speed and direction in emergencies to cope with various unexpected situations. On land, it can walk using retractable quadrupedal robotic arms. With its efficient locomotion mode and precise search capabilities, the amphibious robot significantly reduces the time required to locate stranded personnel, facilitating subsequent professional rescue operations.

[0108] Regarding the technical solution of this amphibious exploration robot, the following alternative solutions exist that can achieve the same purpose:

[0109] Example 2: Propulsion System Replacement

[0110] Original plan: Tail-mounted ring-bladed propeller + brushless motor

[0111] Alternative solution: Employ a biomimetic tail fin oscillation propulsion device (mimicking the left-right / up-down oscillation structure of a fish's tail fin), coupled with a servo motor drive. This solution can further reduce underwater noise, improve stealth, and provide better maneuverability in complex water currents; or use a multi-ducted thruster (adding small ducted propulsion units to the head / sides) to achieve more precise attitude adjustment.

[0112] Example 3: Replacement of quadrupedal locomotion mechanism

[0113] Original design: A retractable quadruped structure with a servo-driven linkage.

[0114] Alternative solutions: Use a tracked land mobility module (foldable tracks that fold up to fit the fuselage underwater) to improve mobility in complex terrains (such as mud and gravel piles); or use a biomimetic webbed foot structure (with deployable webs at the ends of the four feet) to enhance both underwater propulsion and land traction.

[0115] Example 4: Replacement of Detection System

[0116] Original solution: LiDAR + camera

[0117] Alternative solutions: Use high-resolution side-scan sonar (for turbid waters) to replace some optical detection modules to improve the accuracy of underwater obstacle identification; or add an infrared thermal imager to detect vital signs in nighttime / low-light environments.

[0118] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An amphibious exploration robot device, characterized in that, include: The head structure includes a head shell (1), a detection component, and a counterweight device; The counterweight device is installed inside the head shell (1), and the detection component is installed outside the head shell (1); The body part includes a body shell (11), a tail section shell (4), a tail section shell (10), a gyroscope module (37), and a primary servo motor (39) connected in sequence; the body shell (11) is connected to the head shell (1), the gyroscope module (37) and the primary servo motor (39) are installed inside the body shell composed of the body shell (11), the tail section shell (4), and the tail section shell (10), the output shaft of the primary servo motor (39) is connected to the pectoral fin shell (2), and the pectoral fin shell (2) is located outside the body shell (11); The four-legged part is installed around the body part; The tail section of the machine includes a three-section tail housing (7), a brushless motor (22), and a ring-bladed propeller (49); the two-section tail housing (10) is connected to the three-section tail housing (7), the output shaft of the brushless motor (22) is connected to the ring-bladed propeller (49), and the ring-bladed propeller (49) is installed at the tail end of the three-section tail housing (7).

2. The amphibious exploration robot device according to claim 1, characterized in that: The output shaft of the primary servo motor (39) is connected to the pectoral fin shell (2), specifically: An axial gear (29) is mounted on the output shaft of the first-stage servo motor (39); The axial gear (29) meshes with the vertical gear (30); The vertical gear (30) is sleeved on the coupling (35); The coupling (35) has two ends extending out of the body housing (11) and is respectively fixedly installed with a first optical shaft (65) and a second optical shaft (66); One end of the first optical axis (65) and the second optical axis (66) are rotatably connected to the outside of the body shell (11), and the other end of the first optical axis (65) and the second optical axis (66) are connected to the top of the pectoral fin shell (2) through a two-hole connecting piece (36) and a suspension (17).

3. The amphibious exploration robot device according to claim 2, characterized in that: One end of the pectoral fin shell (2) is hinged to the fourth optical axis (34); The fourth optical axis (34) is connected to the fixed cover (68) via the third optical axis (67); The fixed cover (68) is fixedly connected to the outer side of the body shell (11).

4. The amphibious exploration robot device according to claim 3, characterized in that: The other ends of the first optical axis (65) and the second optical axis (66) are connected to the top of the pectoral fin shell (2) through a two-hole connecting piece (36) and a suspension (17), specifically: One end of the two-hole connecting piece (36) has a hole in the middle and is fixedly connected to the first optical axis (65) or the second optical axis (66). The other end of the two-hole connecting piece (36) has a hole at the bottom and is connected to the suspension (17) through the fixing beam (31). The suspension (17) is connected to the support plate (16) on top of the pectoral fin shell (2).

5. The amphibious exploration robot device according to claim 4, characterized in that: The primary servo (39) is fixed to the body shell by a servo retainer (46); The control board (28) and gyroscope module (37) are mounted around the primary servo (39).

6. The amphibious exploration robot device according to claim 5, characterized in that: The four-legged part includes four forelimbs (3) and four hindlimbs (9); The four forelimbs (3) are fitted with four-legged pads (18) at their tail ends; The forelimbs (3) of the quadruped are equipped with a second quadruped three-stage servo motor (8) at their head ends; The output shaft of the second quadrupedal three-stage servo motor (8) is connected to the tail end of the quadrupedal hind limbs (9); A first bearing (25) is fixedly installed on the hind limbs (9) of the four legs; The first bearing (25) is connected to the four-legged pad (18) via a telescopic push rod (19); The head end of the four hind legs (9) is mounted on the output shaft of the four-legged two-stage servo motor (48) that can rotate up and down; The quadrupedal secondary servo (48) is mounted on the output shaft of the quadrupedal primary servo (21) which can rotate back and forth.

7. The amphibious exploration robot device according to claim 6, characterized in that: The detection components include a searchlight (12), a camera (38), and a lidar module (14); The front end of the head shell (1) is made of transparent silicone (13), the searchlight (12) is fixedly installed on both sides of the front end of the head shell (1), and the camera (38) is installed inside the head shell (1), with the lens of the camera (38) facing the transparent silicone (13). The lidar module (14) is mounted on the bottom of the head shell (1) via a support suspension (60).

8. The amphibious exploration robot device according to claim 7, characterized in that: The counterweight device includes a counterweight block (54), a front support (51), a rear support (57), and a lead screw motor (58); The front bracket (51) and the rear bracket (57) are fixedly connected; The lead screw motor (58) is mounted on the rear bracket (57). The counterweight (54) is mounted on the slider (55) of the lead screw motor (58).

9. The amphibious exploration robot device according to claim 8, characterized in that: The lead screw of the lead screw motor (58) is set along the length of the amphibious exploration robot.

10. The amphibious exploration robot device according to claim 9, characterized in that: The control board (28) is an STM32 control board.

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