Amphibious robot and control method thereof

Abstract

The application relates to an amphibious robot and a control method thereof, which comprises a body assembly and a wheel-propeller assembly; the wheel-propeller assembly is arranged on the body assembly and is electrically connected with the body assembly; the body assembly comprises a shell module, a sensor module, a control module, a waterproof bin module and a communication module; the shell module comprises a skeleton; the communication module is arranged on the skeleton; the waterproof bin module comprises a plurality of waterproof bins; the sensor module and the waterproof bin module are arranged on the skeleton; the control module is arranged inside the waterproof bin; the control module is electrically connected with the sensor module; the sensor module comprises a laser radar group, a first camera group, a second camera group, a deep thermometer, a Doppler log and a sonar; the first camera group and the second camera group are arranged inside the waterproof bin, and the laser radar group, the deep thermometer, the Doppler log and the sonar are arranged on the skeleton.

Description

Technical Field

[0001] This invention relates to the field of amphibious robot technology, and in particular to an amphibious robot and its control method. Background Technology

[0002] In recent years, in the inspection and emergency response of high-risk environments such as substations and underground utility tunnels after urban flooding, mobile platforms often need to adapt to multiple scenarios, including land and underwater, placing high demands on their multi-physics perception capabilities of the surrounding environment. Traditional sensing components are usually designed for a single medium, and the sensor types and deployment methods are difficult to simultaneously acquire multiple physical fields. Summary of the Invention

[0003] To address the technical challenge of existing amphibious robots' inability to simultaneously handle multi-physics field collaborative perception in various scenarios, including both land and underwater environments, this invention provides an amphibious robot and its control method.

[0004] The present invention provides an amphibious robot, comprising a body assembly and a propeller assembly. The propeller assembly is disposed on the body assembly and electrically connected to it. The body assembly includes a shell module, a sensor module, a control module, a waterproof chamber module, and a communication module. The shell module includes a frame. The communication module is disposed on the frame and electrically connected to the control module. The waterproof chamber module includes multiple waterproof chambers arranged adjacent to each other. The sensor module and the waterproof chamber module are disposed on the frame. The control module is disposed on the waterproof chamber module and electrically connected to the sensor module. The sensor module includes a lidar group, a first camera group, a second camera group, a depth thermometer, a Doppler logger, and a sonar. The first camera group and the second camera group are disposed inside the waterproof chamber, and the waterproof chamber has a transparent window corresponding to the first camera group and the second camera group. The lidar group, the depth thermometer, the Doppler logger, and the sonar are disposed on the frame.

[0005] Preferably, the frame is rectangular; the waterproof compartment module includes a first waterproof compartment, a second waterproof compartment, a third waterproof compartment, a fourth waterproof compartment, and a fifth waterproof compartment. The first waterproof compartment is located on the narrow side of the frame, which is defined as the head, and the side of the frame opposite to the head is defined as the tail. The second waterproof compartment is located on the tail. The third, fourth, and fifth waterproof compartments are arranged in a straight line along the length of the frame inside the frame. The first camera group is located inside the first waterproof compartment. The second camera group is located inside the second waterproof compartment. The third waterproof compartment is located in the middle. A battery is located inside the third waterproof compartment. The control module is located in the fourth and / or fifth waterproof compartments. Each of the first, second, third, fourth, and fifth waterproof compartments has at least one watertight plug, and the control module, the sensor module, and the battery are electrically connected through the watertight plugs.

[0006] Preferably, the lidar group includes a 3D lidar and a short-wave lidar, the 3D lidar and the short-wave lidar are located on the same wide side of the frame and close to the head, the wide side is defined as the top surface, and the surface of the frame opposite to the top surface is the bottom surface; the sonar is located on the outer surface of the first waterproof chamber near the top surface, and the Doppler log and the depth thermometer are located on the bottom surface.

[0007] Preferably, the communication module includes an antenna and a cable reel, the antenna being disposed on the top surface and near the tail; the cable reel being disposed on the outer surface of the second waterproof compartment near the top surface.

[0008] Preferably, the first camera group includes an ultra-wide-angle camera and a telephoto camera, and the second camera group includes an ultra-wide-angle camera; the ultra-wide-angle camera is respectively provided at the center of each wide side of the frame except for the bottom surface; the sensor module also includes a fill light, which is electrically connected to the control module; the fill lights are respectively located on the plane of the outer surface of the first waterproof compartment near the top surface and on the plane of the outer surface of the second waterproof compartment near the top surface; the number of fill lights is at least two.

[0009] Preferably, the bottom surface is further provided with a clamping mechanism and a counterweight, the clamping mechanism being electrically connected to the control module; the clamping mechanism clamps the counterweight, and when the clamping mechanism releases the clamp, the counterweight detaches from the amphibious robot; the counterweight is provided with a clearance hole corresponding to the position of the Doppler logger; the Doppler logger is exposed from the skeleton through the clearance hole.

[0010] Preferably, an extension frame is provided at the center of the top surface of the frame, and the extension frame is connected to the air extraction module, the magnetic door and the robotic arm.

[0011] Preferably, the amphibious robot has a net buoyancy of 2kg to 5kg in water when the counterweight is separated.

[0012] Preferably, the bottom surface is also provided with four support columns.

[0013] This invention also provides a control method for an amphibious robot, applied to an amphibious robot, the method comprising: The initial state is the land mode, which uses a LiDAR group, a first camera group, and a second camera group to model and locate the surrounding environment; Once the depth thermometer confirms that the robot is underwater, it activates the underwater mode, drives the propeller assembly to rotate and generates upward thrust to counteract gravity. The surrounding environment is modeled using sonar and Doppler log. When the upward thrust is greater than gravity, the amphibious robot floats; when the upward thrust is equal to gravity, the amphibious robot suspends; and when the upward thrust is less than gravity or the upward thrust is canceled, the amphibious robot sinks.

[0014] Compared with the prior art, the amphibious robot and its control method provided by the present invention have the following advantages: 1. This invention provides an amphibious robot that achieves autonomous operation in amphibious environments by electrically connecting a propeller assembly to a body assembly and incorporating a shell module, sensor module, control module, waterproof chamber module, and communication module on the body assembly. The waterproof chamber module employs multiple adjacent, independent waterproof chambers. If one chamber accidentally becomes flooded, the others remain sealed, preventing damage to the entire robot and improving the system's fault tolerance and reliability. The control module, located inside the waterproof chamber and electrically connected to the sensor module, can process multi-source data in real time from lidar, camera, thermometer, Doppler log, and sonar. A transparent window allows the first and second camera groups to continue recording from inside the chamber.

[0015] 2. In the amphibious robot provided in this embodiment of the invention, the skeleton is designed in a cuboid shape, and five waterproof compartments are specifically positioned: a first waterproof compartment at the head, a second waterproof compartment at the tail, and third, fourth, and fifth waterproof compartments arranged in a straight line inside. This layout makes the robot's center of gravity evenly distributed, and its posture stable during navigation. The first camera group is located at the head, and the second camera group is located at the tail, achieving two-way visual coverage, which is convenient for backward movement in narrow water or land environments. The third waterproof compartment is located in the middle and houses the battery, which helps to balance the weight of the entire robot; the control module can be set separately in the fourth or fifth waterproof compartment, or it can be set in two compartments, providing a flexible electrical control layout scheme that can be adjusted according to actual load requirements. Each waterproof compartment is equipped with a watertight plug, realizing modular electrical connection. When disassembling a single waterproof compartment for maintenance or replacement, the sealing of other compartments is not affected, which greatly reduces the difficulty and time cost of on-site maintenance.

[0016] 3. In the amphibious robot provided in this embodiment of the invention, the 3D lidar and short-wave lidar are positioned on the top surface of the skeleton, close to the head. This allows the lidar to obtain a larger forward detection angle on land, reducing blind spots. The sonar is located at the top, and its beam is less likely to be blocked by the body components during underwater navigation, improving the accuracy of underwater terrain detection. The Doppler log and depth thermometer are located on the bottom surface. The Doppler log needs to emit sound waves downwards to measure the velocity relative to the seabed or riverbed, and its bottom-mounted installation ensures good acoustic coupling with the water. The depth thermometer is also located on the bottom surface, enabling accurate sensing of the temperature and pressure data of the water layer in which the robot is located. This layout, with the lidar and sonar positioned on the top and the Doppler log and depth thermometer positioned on the bottom, ensures that the various sensors do not interfere with each other when the robot is operating near the water surface, allowing each sensor to obtain its optimal measurement environment.

[0017] 4. In the amphibious robot provided in this embodiment of the invention, the antenna and cable reel of the communication module are positioned on the top surface near the tail. This arrangement keeps the antenna away from electromagnetically sensitive devices such as lidar and sonar on the head, reducing signal interference. The cable reel is used to wind the cable; the antenna is used to transmit wireless signals on land. The tail arrangement ensures that the cable outlet faces the rear of the robot, allowing the cable to naturally trail behind during forward movement, reducing the risk of it being caught in the propeller assembly and improving operational safety.

[0018] 5. In the amphibious robot provided in this embodiment of the invention, the first camera group includes an ultra-wide-angle camera and a telephoto camera, installed inside the waterproof head compartment, providing two modes: wide field of view and long-distance detail observation. The second camera group includes an ultra-wide-angle camera, installed at the tail, ensuring a panoramic view when reversing or returning to base. An ultra-wide-angle camera is located at the center of each wide side of the frame, achieving blind-spot-free coverage in all directions, allowing operators to observe the environment from all angles when traversing narrow pipes or rock crevices. Supplemental lighting is located on the top of the outer surfaces of the first and second waterproof compartments, with at least one at each location. When ambient light is insufficient, the supplemental lighting illuminates the shooting areas of the first and second camera groups.

[0019] 6. In the amphibious robot provided in this embodiment of the invention, a clamping mechanism and a counterweight are provided on the bottom surface. The counterweight is fixed by the clamping mechanism, and the buoyancy and stability of the robot can be adjusted by quickly changing the counterweight of different masses according to different operating water depths and water flow speeds. A clearance hole is provided on the counterweight corresponding to the position of the Doppler log, ensuring that the acoustic emission window of the Doppler log is not blocked, thus guaranteeing the accuracy of the speed measurement data. This design satisfies the counterweight requirements without affecting the normal operation of the core sensors. The clamping mechanism adopts a mechanical clamping method, allowing for tool-free assembly and disassembly of the counterweight, simplifying on-site operation. Simultaneously, the counterweight is concentrated on the bottom surface, lowering the overall center of gravity and improving the robot's anti-tipping ability when moving on land and its resistance to water flow disturbance underwater. When the control module detects a fault, it sends a release signal, and the clamping mechanism releases the counterweight, which immediately detaches from the robot body under gravity. After detaching from the counterweight, the overall weight of the robot is reduced, allowing the robot to float to the surface independently without relying on propellers. This self-rescue mechanism greatly improves the robot's survivability when operating underwater, preventing it from sinking and being lost due to power or seal failure, and reducing the risk of equipment loss.

[0020] 7. In the amphibious robot provided in this embodiment of the invention, an extension frame is set at the center of the top surface of the skeleton. The extension frame provides a standardized mechanical interface, which can quickly connect to additional equipment such as a vacuum module, a magnetic fluxgate, or a robotic arm according to task requirements. The vacuum module can be used for underwater pumping operations or to create negative pressure adsorption; the magnetic fluxgate can detect underwater ferromagnetic materials and is suitable for detecting leakage current; the robotic arm can perform fine operations such as grasping, cutting, and sampling. The extension frame is located at the center of the top surface, ensuring the load symmetry of the additional equipment and preventing the robot from yawing or rolling. Since the main body component already has complete sensors and control modules, these extension devices only need to be connected to the control module through a standard electrical interface to work, greatly expanding the robot's application scenarios and realizing multiple uses for one machine.

[0021] 8. In the amphibious robot provided in this embodiment of the invention, the net buoyancy of the amphibious robot after separating the counterweight is 2kg~5kg. That is, during normal operation, the counterweight remains attached to the entire robot, resulting in negative buoyancy. In case of an anomaly requiring emergency surfacing, the control module releases the counterweight, and the robot immediately obtains 2kg~5kg of positive buoyancy. This buoyancy range has been optimized; greater than 2kg ensures stable surfacing despite water flow disturbances and surface tension; less than 5kg avoids excessively fast surfacing speed that could cause impact upon exiting the water or loss of attitude. This design balances operational stability and self-rescue reliability, allowing for safe return to the surface without relying on propeller drive, significantly reducing the risk of sinking and loss.

[0022] 9. In the amphibious robot provided in this embodiment of the invention, four support columns are provided on the bottom surface. When the robot is moving on land, the four support columns raise the robot body to a certain height off the ground, preventing components such as the Doppler log, depth thermometer, and counterweight mounted on the bottom surface from directly contacting the ground and causing wear. The support columns also provide stable four-point support, preventing the robot from tipping over when parked on uneven surfaces. When the robot enters water from land, the support columns do not generate additional water resistance because they are located on the bottom surface and are relatively small. When landing underwater, the support columns contact the bottom first, protecting other bottom surface sensors from being buried by mud and sand.

[0023] 10. The control method for the amphibious robot provided in this embodiment of the invention, in land mode, activates the lidar group and the first and second camera groups to perform environmental modeling and positioning, enabling autonomous navigation in underground pipe corridors or indoor environments. By detecting whether the environment is land or underwater using a depth thermometer, the operating mode is automatically switched. In underwater mode, the propeller assembly is driven to rotate, generating upward thrust to counteract the robot's own gravity, enabling the robot to stably dive, hover, and surface. Simultaneously, the lidar is turned off because conventional lidar cannot be used underwater, and even with special underwater lidar, the detection effect is limited after urban flooding when the water is turbid. Instead, sonar is used for terrain detection and a Doppler log for velocity measurement to achieve underwater navigation. This sensor-based automatic mode switching requires no manual intervention, responds quickly, and avoids frequent manual settings changes by operators in different environments, improving operational efficiency and safety. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1This is a schematic diagram of the structure of an amphibious robot provided in an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of sensor installation for an amphibious robot provided in an embodiment of the present invention. Figure 1 .

[0027] Figure 3 This is a schematic diagram of sensor installation for an amphibious robot provided in an embodiment of the present invention. Figure 2 .

[0028] Figure 4 This is a cross-sectional view of an amphibious robot provided in an embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram of the waterproof structure installation of an amphibious robot provided in an embodiment of the present invention.

[0030] Figure 6 This is a flowchart illustrating the separation of the mounting blocks for an amphibious robot, as provided in an embodiment of the present invention.

[0031] Figure 7 This is a schematic diagram of a propeller assembly structure provided in an embodiment of the present invention.

[0032] Figure 8 This is a schematic diagram of an underwater mode of a propeller propulsion structure provided in an embodiment of the present invention.

[0033] Figure 9 This is a schematic diagram of the structure of a first waterproof motor module and a second waterproof motor module of a propeller assembly provided in an embodiment of the present invention.

[0034] Figure 10 This is a schematic diagram of the vibration damping module of a propeller assembly provided in an embodiment of the present invention.

[0035] Figure 11 This is a cross-sectional view of a vibration damping module of a propeller assembly provided in an embodiment of the present invention.

[0036] Figure 12 This is a schematic diagram of the hydraulic cylinder structure of a propeller assembly provided in an embodiment of the present invention.

[0037] Figure 13 This is a schematic diagram illustrating the cooperation between the third waterproof motor module and the propeller module in a propeller assembly provided in an embodiment of the present invention.

[0038] Figure 14 This is a schematic diagram of the propeller of a propeller assembly provided in an embodiment of the present invention.

[0039] Figure 15 This is a schematic diagram of the land mode structure of an amphibious robot provided in an embodiment of the present invention.

[0040] Figure 16 This is a schematic diagram of the underwater mode structure of an amphibious robot provided in an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached diagram: 100. Paddlewheel assembly; 200. Amphibious robot; 300. Body assembly; 10. Top surface; 20. Bottom surface; 30. Head; 40. Tail; 50. Control module; 1. Shell module; 11. Frame; 111. Counterweight; 1111. Clearance hole; 12. Expansion frame; 13. Support column; 14. Anti-collision shell; 15. Waterproof components; 2. Sensor module; 21. LiDAR group; 211. 3D LiDAR; 212. Short-wave LiDAR; 22. First camera group; 23. Second camera group; 24. Sonar; 25. Ultra-wide-angle camera; 26. Telephoto camera; 27. Fill light; 3. Waterproof compartment module; 31. First waterproof compartment; 32. Second waterproof compartment; 33. Third waterproof compartment; 34. Fourth waterproof compartment; 35. Fifth waterproof compartment; 36. Transparent window; 37. Battery; 38. Watertight plug; 4. Communication module; 41. Antenna; 42. Cable reel; 5. First waterproof motor module; 51. First drive end; 52. First waterproof motor body; 53. First mounting plate; 6. Second waterproof motor module; 61. Second drive end; 62. Second waterproof motor body; 63. Mounting slot; 64. Bearing; 65. Shaft; 66. Second mounting plate; 67. Second coupling; 7. Third waterproof motor module; 71. Third waterproof motor body; 72. Third drive end; 73. Connecting column; 8. Shock absorption module; 81. First connecting housing; 811. Limiting block; 82. Second connecting housing; 83. Hydraulic cylinder; 84. Elastic element; 85. First fixing hole; 86. First fixing shaft; 87. Second fixing hole; 88. Second fixing shaft; 9. Propeller module; 91. Wheel; 92. Tire; 93. Connecting hole; 94. First propeller; 101. Thruster; 1011. Fourth drive end; 1012. Propulsion motor; 1013. Second propeller; 1014. Outer casing; 1015. Third mounting plate. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0043] In the embodiments provided by this invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0044] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Those skilled in the art should also recognize that the embodiments described in the specification are optional embodiments, and the actions and modules involved are not necessarily essential to the invention.

[0045] In various embodiments of the present invention, it should be understood that the sequence number of each process does not necessarily imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0046] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It is particularly important to note that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0047] For inspection and emergency response in high-risk environments such as substations and underground utility tunnels after urban flooding, please refer to [link / reference]. Figure 1The first embodiment of the present invention provides an amphibious robot 200, including a body assembly 300 and a propeller assembly 100; the propeller assembly 100 is disposed on the body assembly 300 and electrically connected to the body assembly 300. Please continue reading. Figure 2 , Figure 3 and Figure 4 The main body component 300 includes a shell module 1, a sensor module 2, a control module 50, a waterproof chamber module 3, and a communication module 4. The shell module 1 includes a frame 11; the communication module 4 is located on the frame 11 and is electrically connected to the control module 50; the waterproof chamber module 3 includes multiple waterproof chambers arranged adjacent to each other; the sensor module 2 and the waterproof chamber module 3 are located on the frame 11; the control module 50 is located on the waterproof chamber module 3 and is electrically connected to the sensor module 2; the sensor module 2 includes a lidar group 21, a first camera group 22, a second camera group 23, a depth thermometer, a Doppler log, and a sonar 24; it is located inside the waterproof chamber, and the waterproof chamber has a transparent window 36, which is set corresponding to the first camera group 22 and the second camera group 23; the lidar group 21, the depth thermometer, the Doppler log, and the sonar 24 are located on the frame 11.

[0048] This invention provides an amphibious robot 200, which achieves autonomous operation in amphibious environments by electrically connecting a propeller assembly 100 to a body assembly 300 and by assembling a shell module 1, a sensor module 2, a control module 50, a waterproof chamber module 3, and a communication module 4 on the body assembly 300. The waterproof chamber module 3 employs multiple adjacent, independent waterproof chambers. If a single chamber accidentally becomes flooded, the others remain sealed, preventing damage to the entire robot and improving the system's fault tolerance and reliability. The control module 50, located inside the waterproof chamber and electrically connected to the sensor module 2, can process multi-source data collected in real time from a lidar group 21, a camera group, a depth thermometer, a Doppler log, and a sonar 24. A transparent window 36 allows the first and second camera groups 23 to continue recording normally inside the chamber.

[0049] Please see Figure 1 Specifically, the frame 11 is provided with at least one anti-collision shell 14, which fully covers the frame 11 after installation.

[0050] Understandably, the inclusion of a shock-absorbing shell 14 on the frame 11 allows it to withstand external impacts and scratches, protecting internal components such as the waterproof chamber and sensors. The shock-absorbing shell 14 uses an elastic material to absorb impact energy, and multiple shells can cover vulnerable corners, requiring only individual replacement after damage, thus reducing maintenance costs. It also provides structural support.

[0051] Please see Figure 2 , Figure 3 and Figure 4The frame 11 is rectangular in shape; the waterproof compartment module 3 includes a first waterproof compartment 31, a second waterproof compartment 32, a third waterproof compartment 33, a fourth waterproof compartment 34, and a fifth waterproof compartment 35. The first waterproof compartment 31 is located on the narrow side of the frame 11, which is defined as the head 30, and the side of the frame 11 opposite to the head 30 is defined as the tail 40; the second waterproof compartment 32 is located on the tail 40; the third waterproof compartment 33, the fourth waterproof compartment 34, and the fifth waterproof compartment 35 are arranged in a straight line along the length of the frame 11 inside the frame 11; the first camera group 22 is located in the first waterproof compartment 31. Inside; the second camera group 23 is located inside the second waterproof compartment 32; the third waterproof compartment 33 is located in the middle; the third waterproof compartment 33 contains a battery 37, and the control module 50 is located in the fourth waterproof compartment 34 and / or the fifth waterproof compartment 35; or it can be located separately in the fourth waterproof compartment 34 and the fifth waterproof compartment 35; the first waterproof compartment 31, the second waterproof compartment 32, the third waterproof compartment 33, the fourth waterproof compartment 34 and the fifth waterproof compartment 35 are each provided with no less than one watertight plug 38, and the control module 50, the sensor module 2 and the battery 37 are electrically connected through the watertight plug 38.

[0052] Understandably, in the amphibious robot 200 provided in this embodiment of the invention, the skeleton 11 is designed in a cuboid shape and has five waterproof compartments: a first waterproof compartment 31 at the head 30, a second waterproof compartment 32 at the tail 40, and third, fourth, and fifth waterproof compartments 35 arranged in a straight line inside. This layout makes the robot's center of gravity evenly distributed and its posture stable during navigation. The first camera group 22 is located at the head 30, and the second camera group 23 is located at the tail 40, achieving two-way visual coverage, which is convenient for backward movement in narrow water or land environments. The third waterproof compartment 33 is located in the middle and houses the battery 37, which helps to balance the weight of the entire machine; the control module 50 can be set separately in the fourth or fifth waterproof compartment 35, or it can be set in two compartments, providing a flexible electrical control layout scheme that is easy to adjust according to actual load requirements. Each waterproof compartment is equipped with a watertight plug 38, realizing modular electrical connection. When disassembling a single waterproof compartment for maintenance or replacement, the sealing of other compartments is not affected, which greatly reduces the difficulty and time cost of on-site maintenance.

[0053] It should be noted that the control module 50 can be installed in the fourth waterproof compartment 34 and the fifth waterproof compartment 35, or it can be installed separately in one of the fourth waterproof compartment 34 or the fifth waterproof compartment 35, in order to balance the weight of the amphibious robot 200.

[0054] Specifically, the third waterproof compartment 33, the fourth waterproof compartment 34 and the fifth waterproof compartment 35 are equipped with leakage detection sensors.

[0055] Understandably, a leak detection sensor is installed inside the waterproof compartment to monitor the sealing status in real time. Once water ingress is detected, the control module 50 immediately sounds an alarm and executes protective actions, releasing the counterweight 111 to float the robot. This prevents short circuits and damage to critical electrical components such as the control module 50 and battery 37, significantly improving the robot's underwater operational safety and self-rescue capabilities. Please see Figure 2 , Figure 3 and Figure 4 The lidar group 21 includes a 3D lidar 211 and a short-wave lidar 212. The 3D lidar 211 and the short-wave lidar 212 are located on the same wide side of the frame 11 and close to the head 30. This wide side is defined as the top surface 10, and the surface of the frame 11 opposite to the top surface 10 is the bottom surface 20. The sonar 24 is located on the outer surface of the first waterproof chamber 31 near the plane of the top surface 10. The Doppler log and the depth thermometer are located on the bottom surface 20.

[0056] Understandably, in the amphibious robot 200 provided in this embodiment of the invention, the 3D lidar 211 and short-wave lidar 212 are positioned on the top surface 10 of the skeleton 11, close to the head 30, enabling the lidar to obtain a larger forward detection angle on land and reducing blind spots. The sonar 24 is located at the top, and its beam is less likely to be blocked by the body component 300 when navigating underwater, improving the accuracy of underwater terrain detection. The Doppler log and depth thermometer are located on the bottom surface 20. The Doppler log needs to emit sound waves downwards to measure the velocity relative to the seabed or riverbed, and its installation on the bottom surface 20 ensures good acoustic coupling between it and the water. The depth thermometer is also located on the bottom surface 20, enabling accurate sensing of the temperature and pressure data of the water layer where the robot is located. This layout of the lidar and sonar 24 on the top and the Doppler log and depth thermometer on the bottom ensures that the various sensors do not interfere with each other when the robot is operating near the water surface, allowing each to obtain its optimal measurement environment.

[0057] It should be noted that the short-wave lidar 212 is positioned in front of the 3D lidar 211. The 3D lidar 211 is connected to the frame 11 via a riser. The field of view of the short-wave lidar 212 is a horizontal plane; obstructions in front of it will affect the detection effect. The detection range of the 3D lidar 211 is a full-circle view. The riser below, in conjunction with the short-wave lidar 212, is sufficient to meet functional requirements. Understandably, the reasonable layout of the lidars on the frame 11 ensures a wide detection field of view, providing a sufficient data foundation for subsequent environmental modeling and path planning.

[0058] Please see Figure 5 Specifically, both the shortwave lidar 212 and the 3D lidar 211 are equipped with waterproof components 15.

[0059] Understandably, the short-wave lidar 212 and the 3D lidar 211 are each equipped with an independent waterproof component 15 to prevent water vapor and sediment intrusion, thus avoiding detection failure due to water ingress. This independent waterproofing ensures that even if either the short-wave lidar 212 or the 3D lidar 211 fails, the other will still function normally.

[0060] Please see Figure 2 , Figure 3 and Figure 4 The communication module 4 includes an antenna 41 and a cable reel 42. The antenna 41 is located on the top surface 10 and near the tail 40. The cable reel 42 is located on the outer surface of the second waterproof chamber 32 near the top surface 10.

[0061] Understandably, in the amphibious robot 200 provided in this embodiment of the invention, the antenna 41 and cable reel 42 of the communication module 4 are positioned on the top surface 10 near the tail 40. This arrangement keeps the antenna 41 away from electromagnetically sensitive devices such as the lidar and sonar 24 on the head 30, reducing signal interference. The cable reel 42 is used to wind cables; the antenna 41 is used to transmit wireless signals on land. The tail 40 is arranged so that the cable outlet faces the rear of the robot, allowing the cable to naturally trail behind when moving forward, making it less likely to be caught in the propeller assembly 100, thus improving operational safety.

[0062] Please see Figure 5 Specifically, the antenna 41 is fitted with a waterproof component 15.

[0063] The waterproof component 15 has both corrosion resistance and impact resistance, extending the service life of the antenna 41 and preventing the signal antenna 41 from failing due to water ingress.

[0064] Specifically, cables are wound on the cable tray, and the cables are electrically connected to the control module 50; Understandably, when the robot is used as a tethered underwater robot, the cable can be automatically extended and retracted with the robot's movement to avoid cable tangling or excessive drag resistance; when used as an untethered autonomous robot, the cable can be completely stored in the cable reel 42 without adding extra resistance.

[0065] Please see Figure 2 , Figure 3 and Figure 4 The first camera group 22 includes an ultra-wide-angle camera 25 and a telephoto camera 26, and the second camera group 23 includes an ultra-wide-angle camera 25; the frame 11, except for the bottom surface 20, has an ultra-wide-angle camera 25 at the center of each wide side; the sensor module 2 also includes a fill light 27, which is electrically connected to the control module 50; the fill lights 27 are respectively located on the plane of the outer surface of the first waterproof chamber 31 near the top surface 10 and on the plane of the outer surface of the second waterproof chamber 32 near the top surface 10; the number of fill lights 27 is at least two.

[0066] Understandably, in the amphibious robot 200 provided in this embodiment of the invention, the first camera group 22 includes an ultra-wide-angle camera 25 and a telephoto camera 26, installed inside the waterproof compartment of the head 30, providing two modes: wide field of view and long-distance detail observation. The second camera group 23 includes an ultra-wide-angle camera 25, installed at the tail 40, ensuring a panoramic view when reversing or returning to base. Each wide-side center position of the skeleton 11 is equipped with an ultra-wide-angle camera 25, achieving blind-spot-free coverage in all directions, allowing operators to observe the environment from all angles when traversing narrow pipes or rock crevices. Supplemental lights 27 are located on the top of the outer surface of the first waterproof compartment 31 and the outer surface of the second waterproof compartment 32, with at least one at each position. When ambient light is insufficient, the supplemental lights 27 can illuminate the shooting areas of the first camera group 22 and the second camera group 23.

[0067] Specifically, the fill light 27 illuminates obliquely downwards, covering the shooting range of the first camera group 22 and the second camera group 23.

[0068] The supplementary light 27 illuminates at an angle downwards, precisely covering the shooting area of ​​the first and second camera groups 23, avoiding glare or reflections caused by direct light hitting the lens. This angled illumination reduces backscattering from suspended particles in the water, improving underwater image clarity; on land, it evenly illuminates the ground in front, enhancing visual recognition in low-light environments.

[0069] Please see Figure 5 Specifically, the ultra-wide-angle cameras 25, located at the center of each side, are equipped with a waterproof structure.

[0070] It is understandable that an ultra-wide-angle camera 25 is placed at the center of the wide side of the frame 11, and a waterproof structure is added to protect the internal circuit of the camera and prevent short circuit damage.

[0071] Please see Figure 2 , Figure 3 and Figure 6 The bottom surface 20 is also provided with a clamping mechanism and a counterweight 111. The clamping mechanism is electrically connected to the control module 50. The clamping mechanism clamps the counterweight 111. When the clamping mechanism releases the clamp, the counterweight 111 is detached from the amphibious robot 200. The clamping mechanism clamps the counterweight 111. A clearance hole 1111 is provided on the counterweight 111 corresponding to the position of the Doppler log. The Doppler log is exposed on the frame 11 through the clearance hole 1111.

[0072] Understandably, in the amphibious robot 200 provided in this embodiment of the invention, a clamping mechanism and a counterweight 111 are provided on the bottom surface 20. The counterweight 111 is fixed by the clamping mechanism, and the buoyancy and stability of the robot can be adjusted by quickly replacing the counterweight 111 of different masses according to different operating water depths and water flow speeds. A clearance hole 1111 is provided on the counterweight 111 corresponding to the position of the Doppler log, ensuring that the acoustic wave emission window of the Doppler log is not obstructed, thus guaranteeing the accuracy of the speed measurement data. This design satisfies the counterweight requirements without affecting the normal operation of the core sensor. The clamping mechanism adopts a mechanical clamping method, allowing for easy disassembly and assembly of the counterweight 111 without tools, simplifying on-site operation. Meanwhile, the counterweights 111 are centrally located on the bottom surface 20, lowering the overall center of gravity and improving the robot's resistance to tipping over on land and its resistance to water flow disturbances underwater. When the control module 50 detects a fault, it sends a release signal, and the clamping mechanism releases the counterweights 111, which immediately detach from the robot body under gravity. After detaching from the counterweights 111, the robot's overall weight is reduced, allowing it to float to the surface independently without relying on propellers. This self-rescue mechanism greatly improves the robot's survivability during underwater operations, preventing it from sinking and being lost due to power or sealing failures, and reducing the risk of equipment loss.

[0073] Please see Figure 3 An extension frame 12 is provided at the center of the top surface 10 of the frame 11. The extension frame 12 is connected to the air extraction module, the magnetic door and the robotic arm.

[0074] Understandably, in the amphibious robot 200 provided in this embodiment of the invention, an extension frame 12 is provided at the center of the top surface 10 of the skeleton 11. The extension frame 12 provides a standardized mechanical interface, which can quickly connect to additional equipment such as a vacuum module, a magnetic fluxgate, or a robotic arm according to task requirements. The vacuum module can be used for underwater pumping operations or to create negative pressure adsorption; the magnetic fluxgate can detect underwater ferromagnetic materials and can also be used to detect leakage current; the robotic arm can perform fine operations such as grasping, cutting, and sampling. The extension frame 12 is located at the center of the top surface 10, ensuring the load symmetry of the additional equipment and preventing the robot from yawing or rolling. Since the main body component 300 already has complete sensors and a control module 50, these extension devices only need to be connected to the control module 50 through a standard electrical interface to work, greatly expanding the application scenarios of the robot and realizing multiple uses for one machine.

[0075] The amphibious robot 200 has a net buoyancy of 2kg to 5kg in water when the counterweight 111 is separated.

[0076] Understandably, in the amphibious robot 200 provided in this embodiment of the invention, the net buoyancy of the amphibious robot 200 after separating from the counterweight 111 is 2kg to 5kg. That is, during normal operation, the counterweight 111 remains attached to the entire robot, resulting in negative buoyancy. In case of an emergency requiring surfacing, the control module 50 releases the counterweight 111, and the robot immediately gains 2kg to 5kg of positive buoyancy. This buoyancy range has been optimized; a buoyancy greater than 2kg ensures stable surfacing despite water flow disturbances and surface tension; a buoyancy less than 5kg avoids excessively fast surfacing speed that could cause impact upon exiting the water or loss of attitude. This design balances operational stability and self-rescue reliability, allowing for safe return to the surface without relying on propeller drive, significantly reducing the risk of sinking and loss.

[0077] Please see Figure 2 The bottom surface 20 is also equipped with four support columns 13.

[0078] Understandably, in the amphibious robot 200 provided in this embodiment of the invention, four support columns 13 are provided on the bottom surface 20. When the robot is moving on land, the four support columns 13 raise the robot body to a certain height off the ground, preventing components such as the Doppler log, depth thermometer, and counterweight 111 installed on the bottom surface 20 from directly contacting the ground and causing wear. The support columns 13 also provide stable four-point support, preventing the robot from tipping over when parked on uneven surfaces. When the robot enters water from land, the support columns 13 do not generate additional water resistance because they are located on the bottom surface 20 and are relatively small. When landing underwater, the support columns 13 contact the bottom first, protecting other sensors on the bottom surface 20 from being buried by mud and sand.

[0079] Please see Figure 15 and Figure 16 In a specific embodiment, the body assembly 300 is provided with a thruster 101; the thruster 101 and the propeller assembly 100 are located on the same plane of the body assembly 300.

[0080] Understandably, the propeller assembly 100 is mounted on and electrically connected to the body assembly 300, while the thruster 101 is mounted on the body assembly 300, with the thruster 101 and the propeller assembly 100 located on the same plane as the body assembly 300. This layout allows the robot to primarily rely on the propeller assembly 100 for traction when moving on land, with the thruster 101 not operating; when navigating underwater, the thruster 101 provides the main thrust, while the propeller assembly 100 assists in propulsion or steering. Having both on the same plane is beneficial for the overall center of gravity and buoyancy design, reducing pitch moment and making the underwater attitude more stable. The shock absorption module 8 in the propeller assembly 100 effectively isolates ground impacts, protecting the precision sensors inside the body assembly 300. The collaborative working mode of the thruster 101 and the propeller assembly 100 can be automatically switched via the control module 50, achieving a seamless transition from land to water, improving mission execution efficiency and adaptability in amphibious environments.

[0081] Please see Figure 14 The thruster 101 includes a propulsion motor 1012, a second propeller 1013, an outer cover 1014, and a third mounting plate 1015. The propulsion motor 1012 is provided with a fourth drive end 1011; the fourth drive end 1011 is provided with the second propeller 1013; the second propeller 1013 is covered by the outer cover 1014; the propulsion motor 1012 is provided with the third mounting plate 1015; the third mounting plate 1015 is connected to the main body assembly 300; the fourth drive end 1011 is perpendicular to the third drive end 72.

[0082] Understandably, in the amphibious robot 200 provided in this embodiment of the invention, the thruster 101 has its own outer cover 1014 and independent mounting plate. The outer cover 1014 is fitted over the second propeller 1013 to prevent weeds, ropes, etc. from getting tangled in the second propeller 1013, while also protecting the operator's safety. The third mounting plate 1015 allows the thruster 101 to be fixed independently to the robot body without relying on other motors for support. The thruster 101 and the propeller module 9 have independent power. In underwater mode, the thruster 101 is responsible for forward and backward movement, while the propeller module 9 uses the third waterproof motor module 7 for attitude adjustment and direction control. The division of labor is clear, the control logic is simple, it is easy to program and debug, and it also reduces motion interference between the two.

[0083] Specifically, the thruster 101 is set independently of the propeller assembly 100. When the propeller assembly 100 is switched to underwater travel, the thruster 101 is located below the propeller assembly 100. Understandably, this configuration of the thruster 101 can prevent the propulsion water flow generated by the thruster 101 in the horizontal direction from affecting the attitude adjustment of the propeller assembly 100.

[0084] It should be noted that in the land state, the propeller module 9 provides horizontal driving force, and the robot can move normally on land; in the underwater state, the propeller assembly 100 can only provide vertical driving force through its shape transformation, and the robot cannot move forward or backward. Therefore, the robot can only move in all directions underwater under the action of the horizontal driving force of the thruster 101.

[0085] Please see Figure 7 and Figure 8 The second embodiment of the present invention provides a propeller assembly 100, including a first waterproof motor module 5, a second waterproof motor module 6, a third waterproof motor module 7, a shock absorption module 8, and a propeller module 9; Please continue reading. Figure 9 and Figure 10The first waterproof motor module 5 has a first drive end 51, which is connected to the second waterproof motor module 6. The second waterproof motor module 6 has a second drive end 61, which is connected to the third waterproof motor module 7 via a shock-absorbing module 8. The third waterproof motor module 7 has a third drive end 72, which is connected to the propeller module 9. The propeller module 9 includes a wheel 91, which is annular in shape and has a first propeller 94 inside. The first propeller 94 is fixedly connected to the wheel 91 and is exposed outside the wheel 91. The first drive end 51 is perpendicular to the second drive end 61 and the third drive end 72. In the land state, the second drive end 61 is parallel to the third drive end 72. In the underwater state, the second drive end 61 is perpendicular to the third drive end 72. Understandably, embodiments of the present invention provide a propeller assembly 100, which integrates a first waterproof motor module 5, a second waterproof motor module 6, a third waterproof motor module 7, a shock absorption module 8, and a propeller module 9 together. This allows the first waterproof motor module 5 to drive the entire assembly to tilt, achieving amphibious transformation. In land mode, the end face of the wheel 91 is perpendicular to the horizontal plane; in underwater mode, the end face of the wheel 91 is parallel to the horizontal plane. The first drive end 51 of the first waterproof motor module 5 is connected to the second waterproof motor module 6, and the first drive end 51 and the second drive end 61 of the second waterproof motor module 6 are perpendicularly arranged, allowing the second waterproof motor module 6 to drive the second drive end 61 to rotate, thereby rotating the shock absorption module 8, the third waterproof motor module 7, and the propeller module 9 for active shock absorption. The second waterproof motor module 6 is connected to the third waterproof motor module 7 via the shock-absorbing module 8 to reduce impact transmission. The third drive end 72 of the third waterproof motor module 7 is connected to the propeller module 9. The fourth drive end 1011 of the thruster 101 is perpendicular to the third drive end 72, so that the axes of the thruster 101 and the propeller module 9 are independent when traveling underwater. The third waterproof motor module 7 and the propeller module 9 cooperate to provide vertical buoyancy. The first propeller 94 is integrated inside the wheel 91, so that the propeller body serves as both the wheel for land travel and the blade for underwater rotation. In land mode, the tire 92 is in contact with the ground, and the first propeller 94 is hidden inside the wheel 91 and unaffected. In underwater mode, the wheel 91 rotates, the first propeller 94 generates thrust, and the tire 92 does not contact any object. One component serves two purposes, reducing the overall weight of the machine, saving installation space, and lowering manufacturing costs.

[0086] In a specific embodiment, four propeller assemblies 100 and two thrusters 101 are typically provided, and the four propeller assemblies 100 and two thrusters 101 are respectively located on both sides of the amphibious robot 200 and arranged symmetrically.

[0087] In a specific embodiment, four propeller assemblies 100 are respectively located on both sides of the amphibious robot 200, and the first propellers 94 on both sides are installed in opposite directions.

[0088] Understandably, in underwater mode, the thrust generated by the rotating propeller modules 9 on both sides is in opposite directions, enabling differential steering: when the robot needs to turn, one propeller increases its speed while the other decreases, generating a yaw torque without the need for additional servo motors. Simultaneously, the opposing impeller directions partially cancel out the counter-torque, reducing the robot's tendency to roll around its longitudinal axis and making underwater navigation more stable. In land mode, the impeller direction does not affect the movement of tires 92, and tire 92's grip remains unaffected. Overall, this simplifies the underwater steering mechanism and reduces control complexity.

[0089] Specifically, in the connection structure between the second waterproof motor module 6 and the third waterproof motor module 7 through the shock absorption module 8, the second waterproof motor module 6 and the third waterproof motor module 7 are sealed and waterproof, while the shock absorption module 8 is not sealed with waterproof measures.

[0090] Understandably, the shock absorber module 8 needs to maintain its mobility, and sealing would limit its elastic deformation and cushioning effect. This module is not an electrical or precision component, and water ingress during underwater operations will not affect its function, so there is no need for sealing. The unsealed structure simplifies the disassembly and assembly process, and the shock absorber module 8 can be directly replaced during maintenance without the need to deal with the sealing ring or waterproof glue, making maintenance more convenient.

[0091] Please see Figure 9 The first waterproof motor module 5 includes a first waterproof motor body 52 and a first mounting plate 53; the first mounting plate 53 is located on the side close to the first drive end 51 and is used to connect with external equipment.

[0092] Understandably, in the propeller assembly 100 provided in this embodiment of the invention, the first waterproof motor module 5 includes a first waterproof motor body 52 and a first mounting plate 53. The first mounting plate 53 is used to connect with external equipment, so that the entire propeller assembly 100 can be fixed to the robot body through the first mounting plate 53. Since the first mounting plate 53 is close to the first drive end 51, the force transmission path is short, the cantilever length is reduced, the rigidity of the connection is improved, and the shaking during operation is reduced. At the same time, the first mounting plate 53 serves as an independent interface, so there is no need to disassemble the internal parts of the first waterproof motor body 52 during assembly and disassembly, making maintenance and replacement more convenient and meeting the needs of modular assembly and on-site maintenance of amphibious robots.

[0093] Please see Figure 9The second waterproof motor module 6 also includes a second waterproof motor body 62, a mounting groove 63, a bearing 64, a rotating shaft 65, a second mounting plate 66, and a second coupling 67. The mounting groove 63 is located on the side of the second waterproof motor module 6 closest to the first waterproof motor module 5, and the mounting groove 63 is detachably connected to the first drive end 51. The bearing 64 is located on the side opposite to the mounting groove 63, and the outer ring of the bearing 64 is fixedly connected to the second waterproof motor body 62. One end of the rotating shaft 65 is fixedly connected to the inner ring of the bearing 64, and the other end is fixedly connected to the second mounting plate 66. The second mounting plate 66 is connected to external equipment. One end of the second coupling 67 is connected to the second drive end 61, and the other end is connected to the shock absorption module 8.

[0094] Understandably, in the propeller assembly 100 provided in this embodiment of the invention, the mounting groove 63 is located on the side close to the first waterproof motor module 5, so that the second waterproof motor module 6 and the first drive end 51 can be detachably connected, facilitating disassembly and assembly; the cooperative structure of the bearing 64, the shaft 65, and the second mounting plate 66, with the second mounting plate 66 playing a supporting role, results in less swaying during overall attitude changes and improved stability; the bearing 64 reduces friction during tilting, making rotation smoother; one end of the second coupling 67 is connected to the second drive end 61, and the other end is connected to the shock absorption module 8, allowing for a certain coaxiality error while transmitting torque, enhancing layout flexibility.

[0095] Specifically, the rotating shaft 65 and the mounting groove 63 are located on opposite sides of the second waterproof motor module 6; the axis of the rotating shaft 65 and the center of the mounting groove 63 are set along the same axis, and the axis direction is coaxial with the center of the first drive end 51.

[0096] Understandably, when the first drive end 51 located in the mounting slot 63 rotates, this symmetrical arrangement ensures that the propeller assembly 100 rotates along the same axis during tilting, reducing radial stress caused by axis offset; at the same time, the mating structure of the bearing 64, the shaft 65, and the second mounting plate 66 provides precise guidance.

[0097] Please see Figure 10 and Figure 11The shock absorption module 8 includes a first connecting housing 81, a second connecting housing 82, a hydraulic cylinder 83, and an elastic element 84; a second coupling 67 is sleeved on one end of the first connecting housing 81; the second connecting housing 82 is sleeved on the other end of the first connecting housing 81; the first connecting housing 81 and the second connecting housing 82 can slide relative to each other; the elastic element 84 and the hydraulic cylinder 83 are disposed inside the first connecting housing 81 and the second connecting housing 82; the elastic element 84 is sleeved on the hydraulic cylinder 83, and both ends of the elastic element 84 abut against the hydraulic cylinder 83; both ends of the hydraulic cylinder 83 are respectively connected to the second coupling 67 and the third waterproof motor module 7; when the first connecting housing 81 and the second connecting housing 82 slide relative to each other, the hydraulic cylinder 83 retracts, and the elastic element 84 is in a compressed state.

[0098] Understandably, in the propeller assembly 100 provided in this embodiment of the invention, the shock absorption module 8 adopts a structure in which the first connecting housing 81 and the second connecting housing 82 slide relative to each other with the elastic element 84, absorbing axial impact while transmitting torque; when the propeller is impacted by the road surface, the first connecting housing 81 and the second connecting housing 82 slide relative to each other, the hydraulic cylinder 83 retracts, compressing the elastic element 84, and the impact energy is stored and released, reducing the load transmitted to the motor and transmission components; the hydraulic cylinder 83 is located in the middle of the elastic element 84 to guide it, preventing the elastic element 84 from bending laterally and ensuring consistent buffering direction; this design improves the reliability of the assembly on bumpy road sections and extends the service life of the motor and propeller.

[0099] Specifically, a limiting block 811 is provided on the circumferential side of the first connecting housing 81 near one end of the second coupling 67, and the limiting block 811 and the second connecting housing 82 are provided with a sliding stroke.

[0100] Understandably, this design limits the relative sliding range of the first connecting housing 81 and the second connecting housing 82 while ensuring the shock absorption function, preventing them from exceeding the compression limit of the elastic element 84 when subjected to excessive impact; at the same time, the limiting block 811 can provide a rigid stop at the extreme position to protect the elastic element 84 and the hydraulic cylinder 83 from overload damage, thus improving the overall safety and durability of the shock absorption module 8.

[0101] Please see Figure 10 , Figure 11 and Figure 12 The hydraulic cylinder 83 has a first fixing hole 85 and a second fixing hole 87 at both ends; a first fixing shaft 86 is provided in the first fixing hole 85; a second fixing shaft 88 is provided in the second fixing hole 87; the first fixing shaft 86 is fixedly connected to the second coupling 67; the second fixing shaft 88 is fixedly connected to the second connecting housing 82; the second coupling 67 transmits pressure to the hydraulic cylinder 83 to keep the elastic element 84 in a compressed state.

[0102] Understandably, in the propeller assembly 100 provided in this embodiment of the invention, the design connects the two ends of the hydraulic cylinder 83 to the second coupling 67 and the second connecting housing 82 respectively via a fixed shaft. This allows the second coupling 67 to directly apply pressure to the hydraulic cylinder 83, ensuring that the elastic element 84 on the hydraulic cylinder 83 is always in a compressed state. The shock absorption module 8 has no idle stroke; once the propeller module 9 is impacted by the road surface, the hydraulic cylinder 83 immediately begins to buffer, avoiding rigid impact. Overall, this improves the response speed and reliability of the shock absorption module 8.

[0103] It should be noted that the first connecting housing 81 and the second connecting housing 82 are respectively provided with through holes corresponding to the positions of the first fixed shaft 86 and the second fixed shaft 88. The first fixed shaft 86 and the second fixed shaft 88 are exposed to the first connecting housing 81 and the second connecting housing 82 through the through holes, and the exposed parts are provided with locking buckles for locking.

[0104] Please see Figure 10 and Figure 13 The third waterproof motor module 7 includes a third waterproof motor body 71 and a third drive end 72. The third waterproof motor body 71 is connected to the shock absorption module 8. The third drive end 72 is provided with a connecting post 73. The connecting post 73 is connected to the propeller module 9.

[0105] Understandably, in the propeller assembly 100 provided in this embodiment of the invention, the third waterproof motor module 7 is directly connected to the shock absorption module 8, and docks with the propeller module 9 through the connecting post 73 on the third drive end 72. This direct connection eliminates intermediate transition parts, resulting in a short power transmission path and high transmission efficiency. The connecting post 73 has a simple structure, and the installation and removal of the propeller module 9 only requires plugging and unplugging for fixation, making on-site maintenance convenient.

[0106] It should be noted that the second waterproof motor module 6 and the third waterproof motor module 7 have torque feedback functions. The drivers of the second waterproof motor module 6 and the third waterproof motor module 7 are equipped with current sensors. The torque is calculated by detecting the relationship between the output phase current and the current-torque calibration of the motor. The second waterproof motor module 6 performs current-torque conversion through the driver inside the second waterproof motor body 62; the third waterproof motor module 7 performs current-torque conversion through the driver located in the control module 50.

[0107] Understandably, the second drive end 61 controls the position of the propeller assembly 100 and provides the tilt angle. When a bump signal is detected, the system dynamically plans the relative vertical positions of the four propeller assemblies 100. Combined with the motion control algorithm, it can distribute the ground pressure of the four wheels, enhance the stability of crossing slopes and bumps, and achieve active shock absorption. The third drive end 72 controls the propeller module 9 to increase torque and reduce speed in land state, providing the traction required for climbing and overcoming ground resistance. In underwater state, the propeller module 9 reduces torque and increases speed. Water is much denser than air, so the propeller module 9 can generate higher flow velocity and thrust at high speed.

[0108] Please see Figure 13 The propeller module 9 also includes a tire 92 and a connecting hole 93; the connecting hole 93 is connected to the connecting post 73 of the third drive end 72; the wheel 91 is provided with a tire 92 on its outside.

[0109] Understandably, in the propeller assembly 100 provided in this embodiment of the invention, the tire 92 is mounted outside the wheel 91 to provide ground grip and cushioning. The connecting hole 93 cooperates with the connecting post 73 of the third drive end 72 to ensure reliable power transmission.

[0110] The third embodiment of the present invention provides a control method for an amphibious robot 200, which is applied to the amphibious robot 200. The method includes: In a specific embodiment, the present invention also provides a control method for an amphibious robot 200, the method comprising: S1. The initial state is the land mode, and the surrounding environment is modeled and located through the lidar group 21, the first camera group 22 and the second camera group 23; S2. After confirming underwater status via a depth thermometer, the underwater mode is activated, driving the propeller assembly 100 to rotate and generate upward thrust to counteract gravity. The surrounding environment is modeled using sonar 24 and a Doppler log. When the upward thrust is greater than gravity, the amphibious robot 200 floats; when the upward thrust is equal to gravity, the amphibious robot 200 suspends; and when the upward thrust is less than gravity or the upward thrust is canceled, the amphibious robot 200 sinks.

[0111] Understandably, the control method for the amphibious robot 200 provided in the second embodiment of the present invention, in land mode, activates the lidar group 21 and the first and second camera groups 23 to perform environmental modeling and positioning, enabling autonomous navigation in underground pipe corridors or indoor environments. When the environment is detected as underwater by a depth thermometer, the operating mode is automatically switched. In underwater mode, the propeller assembly 100 is driven to rotate, generating upward thrust to counteract the robot's own weight, enabling the robot to stably dive, hover, and surface. Simultaneously, the lidar is turned off because conventional lidar cannot be used underwater, and even with special underwater lidar, the detection effect is limited after urban flooding when the water is turbid. Instead, sonar 24 is used for terrain detection and a Doppler log for speed measurement to achieve underwater navigation. This sensor-based automatic mode switching requires no manual intervention, responds quickly, and avoids frequent manual settings changes by operators in different environments, improving operational efficiency and safety.

[0112] It should be noted that "confirmed underwater by the depth thermometer" means that the depth thermometer detects that the pressure has risen to the set value.

[0113] S1.1 During land movement, the third waterproof motor module 7 increases the output torque and reduces the speed; on bumpy sections, the elastic element 84 in the shock absorption module 8 buffers the impact force during the stroke, and the second drive end 61 is driven to rotate by the second waterproof motor module 6 to drive the shock absorption module 8, the third waterproof motor module 7 and the propeller module 9 to rotate, thus performing active shock absorption. S2.1 The first waterproof motor module 5 drives the first drive end 51 to rotate, thereby causing the propeller assembly 100 to tilt as a whole and change its motion mode. S2.2 In underwater mode, the third waterproof motor module 7 reduces torque and increases speed; the thruster 101 provides forward and backward power, and the third waterproof motor module 7 works with the propeller module 9 to adjust attitude and control direction.

[0114] Understandably, this control method sets the operating parameters of the third waterproof motor module 7 according to different media, land and water. In land mode, the torque is increased and the speed is reduced to provide the traction required for climbing and overcoming ground resistance. On bumpy roads, the elastic element 84 in the shock absorption module 8 passively absorbs the impact, while the second waterproof motor module 6 drives the second drive end 61 to rotate, which in turn drives the shock absorption module 8, the third waterproof motor module 7, and the propeller module 9 to rotate, achieving active shock absorption and further reducing vehicle sway. In underwater mode, the torque is reduced and the speed is increased, so that the propeller assembly 100 matches the thruster 101 to provide the main thrust, and the propeller module 9 assists in attitude and direction control. The mode switching is smooth and the movement is stable.

[0115] The foregoing has provided a detailed description of an amphibious robot 200 and its control method disclosed in the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention. Any modifications, equivalent substitutions, and improvements made within the principles of the present invention should be included within the protection scope of the present invention.

[0116] The foregoing has provided a detailed description of an amphibious robot 200 and its control method disclosed in the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention. Any modifications, equivalent substitutions, and improvements made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An amphibious robot, characterized by: The system includes a body assembly and a propeller assembly. The propeller assembly is located on and electrically connected to the body assembly. The body assembly includes a shell module, a sensor module, a control module, a waterproof chamber module, and a communication module. The communication module is electrically connected to the control module. The shell module includes a frame. The communication module is located on the frame. The waterproof chamber module includes multiple waterproof chambers arranged adjacent to each other. The sensor module and the waterproof chamber module are located on the frame. The control module is located on the waterproof chamber module and electrically connected to the sensor module. The sensor module includes a lidar group, a first camera group, a second camera group, a depth thermometer, a Doppler logger, and a sonar. The first camera group and the second camera group are located inside the waterproof chamber, and the waterproof chamber has a transparent window corresponding to the first camera group and the second camera group. The lidar group, the depth thermometer, the Doppler logger, and the sonar are located on the frame.

2. The amphibious robot as described in claim 1, characterized in that: The skeleton is rectangular in shape; the waterproof compartment module includes a first waterproof compartment, a second waterproof compartment, a third waterproof compartment, a fourth waterproof compartment, and a fifth waterproof compartment. The first waterproof compartment is located on the narrow side of the skeleton, which is defined as the head, and the side of the skeleton opposite the head is defined as the tail. The second waterproof compartment is located on the tail. The third, fourth, and fifth waterproof compartments are arranged in a straight line along the length of the skeleton inside the skeleton. The first camera group is located inside the first waterproof compartment. The second camera group is located inside the second waterproof compartment. The third waterproof compartment is located in the middle position; the third waterproof compartment is equipped with a battery, and the control module is located in the fourth waterproof compartment and / or the fifth waterproof compartment; Each of the first, second, third, fourth, and fifth waterproof compartments is provided with at least one watertight plug, and the control module, the sensor module, and the battery are electrically connected through the watertight plugs.

3. The amphibious robot as described in claim 2, characterized in that: The lidar group includes a 3D lidar and a short-wave lidar. The 3D lidar and the short-wave lidar are located on the same wide side of the frame and close to the head. This wide side is defined as the top surface, and the surface of the frame opposite to the top surface is defined as the bottom surface. The sonar is located on the outer surface of the first waterproof chamber near the top surface, and the Doppler log and the depth thermometer are located on the bottom surface.

4. The amphibious robot of claim 3, wherein: The communication module includes an antenna and a cable reel. The antenna is located on the top surface and near the tail. The cable reel is located on the outer surface of the second waterproof compartment near the top surface.

5. The amphibious robot of claim 4, wherein: The first camera group includes an ultra-wide-angle camera and a telephoto camera, and the second camera group includes an ultra-wide-angle camera; the frame, except for the bottom surface, has an ultra-wide-angle camera at the center of each wide side; the sensor module also includes a fill light, which is electrically connected to the control module; the fill lights are respectively located on the plane near the top surface of the outer surface of the first waterproof compartment and on the plane near the top surface of the outer surface of the second waterproof compartment; the number of fill lights is at least two.

6. The amphibious robot of claim 3, wherein: The bottom surface is also provided with a clamping mechanism and a counterweight. The clamping mechanism is electrically connected to the control module. The clamping mechanism movably clamps the counterweight. When the clamping mechanism releases the clamp, the counterweight detaches from the amphibious robot. A clearance hole is provided on the counterweight corresponding to the position of the Doppler log. The Doppler log is exposed from the frame through the clearance hole.

7. The amphibious robot of claim 3, wherein: An extension frame is provided at the center of the top surface of the frame, and the extension frame is connected to the air extraction module, the magnetic door and the robotic arm.

8. The amphibious robot of claim 7, wherein: When the counterweight is separated, the amphibious robot has a net buoyancy of 2kg to 5kg in water.

9. The amphibious robot of claim 3, wherein: The bottom surface is also equipped with four support columns.

10. A control method of an amphibious robot, characterized by, Applied to any one of claims 1-9, the method comprises: The initial state is the land mode, which uses a LiDAR group, a first camera group, and a second camera group to model and locate the surrounding environment; Once the depth thermometer confirms that the robot is underwater, it activates the underwater mode, drives the propeller assembly to rotate and generates upward thrust to counteract gravity, and models the surrounding environment using sonar and Doppler log. When the upward thrust is greater than gravity, the amphibious robot floats; when the upward thrust is equal to gravity, the amphibious robot suspends; and when the upward thrust is less than gravity or the upward thrust is canceled, the amphibious robot sinks.

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