Air-ground amphibious robot for inspection

Abstract

The ground-air amphibious robot comprises a carbon fiber wing plate, a rotating motor is fixedly connected to the edge of the upper portion of the carbon fiber wing plate, the output end of the rotating motor is fixedly connected with a rotor wing, a center control plate is fixedly connected to the upper portion of the carbon fiber wing plate, and a GPS module is fixedly connected to the upper portion of the center control plate. A four-in-one electronic speed controller is fixedly installed below a carbon fiber wing plate, an embedded wiring channel is formed in the carbon fiber wing plate, a high-strength framework is fixedly installed below the carbon fiber wing plate, and the side face of the high-strength framework is fixedly connected with an image sensor body. Operators can take over the control right in time through a manual priority control channel, task interruption caused by misjudgment of a single automatic decision is avoided, the central control board collects data of multiple sensors such as a GPS module and an optical flow meter in real time, and cooperative control of a flight system and a land system is combined. And the robot can still realize centimeter-level hovering precision and autonomous attitude regulation and control in a complex environment.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to an amphibious robot for inspection purposes. Background Technology

[0002] With the development of science and technology, robotics is gradually breaking through the limitations of single motion modes and evolving towards multi-amphibious, intelligent, and miniaturized designs. This patent relates to the field of robotics, and in particular to a miniature amphibious robot focusing on multimodal cooperative motion technology in complex terrain environments. Its core technologies encompass integrated land and air mechanisms, lightweight and impact-resistant chassis architecture design, high-strength shock-absorbing suspension design, modular land-air connection, and a tightly integrated multi-sensor fusion technology, making it suitable for highly dynamic operational scenarios requiring frequent switching of motion modes.

[0003] However, amphibious robots typically rely on a single automatic decision for switching between air and land modes. This makes them susceptible to interference and misjudgment in complex environments. Human-robot interaction lacks a manual priority control channel, making timely takeover impossible in extreme conditions or special missions. Furthermore, the coordination between flight and land propulsion systems is poor, and inertial shocks can easily cause attitude instability. While traditional technologies can utilize sensors to trigger mode switching, they struggle to meet the demands for precise human intervention in extreme scenarios such as strong electromagnetic interference or sensor failure, posing a risk of mission interruption. Additionally, the separate design of flight joysticks and land steering wheels in general remote controllers necessitates frequent hardware replacements for cross-mode operation, severely impacting emergency response efficiency. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies. In conventional amphibious robots, switching between air and land propulsion systems typically relies on a single automatic decision-making mechanism, making them susceptible to interference and misjudgment in complex environments. Furthermore, human-machine interaction lacks a manual priority control channel, making timely takeover impossible under extreme conditions or special missions. The coordination between flight and land propulsion systems is poor, and inertial shocks can easily cause attitude instability. While traditional technologies can utilize sensors to trigger mode switching, they struggle to meet the demands for precise human intervention in extreme scenarios such as strong electromagnetic interference or sensor failure, posing a risk of mission interruption. Moreover, the separate design of flight joysticks and land steering wheels in general remote controllers necessitates frequent hardware replacements for cross-mode operation, severely impacting emergency response efficiency. Therefore, this invention proposes an amphibious robot for inspection purposes.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An amphibious robot for inspection purposes includes a carbon fiber wing plate. A rotary motor is fixedly connected to the upper edge of the carbon fiber wing plate, and a rotor is fixedly connected to the output end of the rotary motor. A central control board is fixedly connected to the upper part of the carbon fiber wing plate, and a GPS module is fixedly connected to the upper part of the central control board. A four-in-one ESC is fixedly installed below the carbon fiber wing plate, and an embedded wiring channel is provided on the carbon fiber wing plate. A high-strength frame is fixedly installed below the carbon fiber wing plate, and a video transmitter body is fixedly connected to the side of the high-strength frame. Multiple drive motors are arranged on the side of the high-strength frame, and the output ends of the drive motors are fixedly connected to tires. The tires rotate using wheel frames as support. The wheel frames are connected to the high-strength frame using spring shock absorbers and double forks. A galvanometer is fixedly installed above the high-strength frame, and a dual-channel bidirectional brushed ESC is installed above the galvanometer. An optical current meter is installed on the side of the high-strength frame.

[0007] The above technical solution further includes:

[0008] The carbon fiber wing panel has holes on its surface for mounting the center control panel. This precisely fitted hole design ensures a tight fit between the center control panel and the carbon fiber wing panel, guaranteeing a stable installation while reducing the need for additional connectors. This aligns with the integrated, lightweight, and impact-resistant frame structure design concept, eliminating unnecessary structures, achieving weight reduction, and enhancing structural stability.

[0009] The high-strength frame has an internal space for supporting the drone battery. This space design enables modular installation of the drone battery. Combined with the overall layout design of evenly distributed center of gravity of the modular components, the battery weight is reasonably incorporated into the overall center of gravity planning, reducing center of gravity offset. At the same time, it optimizes the utilization rate of the frame space, so that the high-strength frame can enhance the overall impact resistance by forming local thickening support in stress concentration areas during the process of supporting the battery.

[0010] A crash barrier is fixedly installed on one side of the high-strength frame to protect its safety. The crash barrier is rigidly connected to the high-strength frame, forming a multi-axis stable and impact-resistant protective structure. When the robot encounters a collision, the crash barrier can effectively absorb the impact energy and reduce the impact of the collision force on the high-strength frame and internal components. Combined with the optimized frame and double wishbone composite suspension land chassis structure, the robot's impact resistance is enhanced in all aspects, improving its environmental adaptability.

[0011] One side of the high-strength frame has a reserved space for placing the image transmitter body. This space design provides a dedicated mounting position for the image transmitter body, which not only facilitates the modular installation and disassembly of the image transmitter, meeting the requirements of the separate detachable flight and land systems in the modular dual-system architecture, and facilitating later maintenance and module component replacement, but also allows for a more scientific distribution of each module component on the high-strength frame through reasonable layout, forming local support for stress concentration areas and enhancing structural stability.

[0012] The carbon fiber wing panel has multiple sets of embedded wiring channels on its surface for connecting the wiring between various components. These embedded wiring channels not only ensure the orderly arrangement of wiring between components, avoiding electromagnetic interference caused by messy wiring and guaranteeing stable operation of the electrical system, but also act as weight-reduction holes, effectively reducing the weight of the carbon fiber wing panel. This aligns with the integrated lightweight and impact-resistant frame structure design, reducing the fuselage's weight while maintaining structural strength by removing unnecessary structures.

[0013] The high-strength frame is equipped with multiple sets of spring shock absorbers around its perimeter to mitigate impacts on components. These spring shock absorbers, along with components such as the double wishbone suspension, constitute a multi-axis stable and impact-resistant suspension module. During robot traversal or landing, this module effectively absorbs impact vibrations from multiple directions, preventing localized structural fatigue and fracture caused by traditional rigid force transmission. Combined with the optimized frame and double wishbone composite suspension chassis structure, this significantly improves the robot's adaptability to complex environments and enhances its overall stability and impact resistance.

[0014] The drone battery is used to power the aforementioned components. As the core power source, the drone battery adopts a modular design, and its installation position is carefully planned to conform to the overall layout design principle of uniform distribution of the center of gravity of modular components. While providing stable power to various components such as the central control board, rotary motor, and four-in-one ESC, the reasonable weight distribution reduces the center of gravity shift, improves the robot's control stability in both land and air modes, and the modular design facilitates replacement and maintenance, meeting the requirements of the modular dual-system architecture.

[0015] The surface of the four-in-one ESC has multiple sets of bolt holes for connection with the carbon fiber wing panel. These bolt holes ensure a secure connection between the four-in-one ESC and the carbon fiber wing panel, making the four-in-one ESC an integral part of the flight system's modular components. This meets the requirements of a split, detachable structure in a modular dual-system architecture, facilitating maintenance and replacement. Simultaneously, the tight installation helps achieve a rational layout of components within a limited space, improving the utilization of the frame space, providing localized support to stress concentration areas, and enhancing the overall structural stability and impact resistance.

[0016] This utility model has the following beneficial effects:

[0017] 1. This utility model breaks through the limitations of the separation between automatic and manual control by integrating an integrated intelligent control platform on the central control board. When faced with extreme scenarios such as strong electromagnetic interference or sensor failure, the operator can take over control in a timely manner through the manual priority control channel, avoiding task interruption due to misjudgment caused by a single automatic decision. At the same time, the central control board collects data from multiple sensors such as GPS module and optical flow meter in real time. Combined with the coordinated control of flight and land systems, the robot can still achieve centimeter-level hovering accuracy and autonomous attitude adjustment in complex environments, significantly improving the stability and reliability of task execution.

[0018] 2. In the mode switching process, the central control board, as the core control unit, precisely coordinates the actions of the flight system and the ground system. When switching from ground mode to flight mode, the ground propulsion is turned off first, and then the rotor speed is gradually increased. When switching from flight to ground mode, the speed is reduced in an orderly manner and smoothly transitions to ground propulsion drive. In addition, through the cooperation of dual-channel bidirectional brushed ESC and four-in-one ESC, the smooth transition of the power system is achieved, effectively avoiding attitude instability caused by inertial impact. At the same time, the traditional separate remote controller design is abandoned, and cross-mode control can be achieved without frequent hardware replacement, which greatly improves emergency response efficiency and meets the efficient and flexible operation requirements of inspection tasks. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of an amphibious robot for inspection purposes proposed in this utility model;

[0020] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0021] Figure 3 This is a side view of the structure of this utility model;

[0022] Figure 4 This is a partial structural schematic diagram of the present invention.

[0023] In the diagram: 1. Image transmitter body; 11. Central control board; 12. GPS module; 13. Rotor; 14. Rotary motor; 15. Carbon fiber wing plate; 151. Embedded wiring channel; 16. Four-in-one ESC; 21. Ammeter; 22. UAV battery; 23. High-strength frame; 24. Collision shield; 25. Optical current meter; 26. Drive motor; 27. Tire; 28. Spring shock absorber; 29. ​​Double wishbone; 210. Dual-channel bidirectional brushed ESC; 211. Wheel frame. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figures 1-4 As shown, this utility model is an amphibious robot for inspection purposes, including a carbon fiber wing plate 15. A rotary motor 14 is fixedly connected to the upper edge of the carbon fiber wing plate 15, and the output end of the rotary motor 14 is fixedly connected to a rotor 13. A central control board 11 is fixedly connected to the upper part of the carbon fiber wing plate 15, and a GPS module 12 is fixedly connected to the upper part of the central control board 11. A four-in-one ESC 16 is fixedly installed below the carbon fiber wing plate 15, and the carbon fiber wing plate 15 is provided with an embedded wiring channel 151. A high-strength frame is fixedly installed below the carbon fiber wing plate 15. The frame 23 has a high-strength frame 23 with the image transmitter body 1 fixedly connected to its side. Multiple drive motors 26 are installed on the side of the high-strength frame 23. The output ends of the drive motors 26 are all fixedly connected to tires 27. The tires 27 rotate using wheel frames 211 as support. The wheel frames 211 are connected to the high-strength frame 23 using spring shock absorbers 28 and double forks 29. A galvanometer 21 is fixedly installed on the top of the high-strength frame 23. A dual-channel bidirectional brushed ESC 210 is installed on the top of the galvanometer 21. An optical current meter 25 is installed on the side of the high-strength frame 23.

[0026] In one embodiment, the carbon fiber wing plate 15 has holes on its surface for placing the central control plate 11.

[0027] In this embodiment, the central control plate 11 and the carbon fiber wing plate 15 are tightly integrated through a precisely matched hole design. This ensures the stable installation of the central control plate 11 while reducing the use of additional connectors. It conforms to the design concept of an integrated lightweight and impact-resistant frame structure, removes redundant structures, achieves lightweighting, and enhances structural stability.

[0028] In one embodiment, the high-strength frame 23 described above has an internal space for supporting the drone battery 22.

[0029] In this embodiment, the spatial design realizes the modular installation of the drone battery 22. Combined with the overall layout design of the uniform distribution of the center of gravity of the modular components, the weight of the battery is reasonably incorporated into the overall center of gravity planning, reducing the center of gravity offset. At the same time, the space utilization rate of the frame 23 is optimized, so that the high-strength frame 23 enhances the overall impact resistance by forming local thickening support in the stress concentration area during the process of supporting the battery 22.

[0030] In one embodiment, for the high-strength frame 23 described above, a crash barrier 24 for protecting its safety is fixedly installed on one side of the high-strength frame 23.

[0031] In this embodiment, the anti-collision frame 24 is rigidly connected to the high-strength frame 23, forming a multi-axis stable and impact-resistant protective structure. When the robot encounters a collision, the anti-collision frame 24 can effectively absorb the impact energy and reduce the impact of the collision force on the high-strength frame 23 and internal components. Combined with the optimized frame and double wishbone composite suspension land chassis structure, the robot's impact resistance is enhanced in all aspects, and its environmental adaptability is improved.

[0032] In one embodiment, for the high-strength frame 23 described above, a space is reserved on one side of the high-strength frame 23 for placing the image transmitter body 1.

[0033] In this embodiment, the space design provides a dedicated mounting position for the image transmitter body 1, which not only facilitates the modular installation and disassembly of the image transmitter, meeting the requirements of the separate detachable flight and land systems in the modular dual-system architecture, and facilitating later maintenance and module component replacement, but also allows for a more scientific distribution of each module component on the high-strength frame 23 through reasonable layout, forming local support for stress concentration areas and enhancing structural stability.

[0034] In one embodiment, for the carbon fiber wingplate 15 described above, the surface of the carbon fiber wingplate 15 has multiple sets of embedded wiring channels 151 for wiring connections between various components.

[0035] In this embodiment, the embedded wiring channels 151 achieve orderly arrangement of wiring between various components, avoiding electromagnetic interference and other problems caused by messy wiring, and ensuring stable operation of the electrical system. On the other hand, these channels, as weight-reducing holes, effectively reduce the weight of the carbon fiber wingplate 15, which fits the integrated lightweight and impact-resistant skeleton structure design. By removing redundant structures, the weight of the fuselage is reduced while ensuring structural strength.

[0036] In one embodiment, for the high-strength frame 23, multiple sets of spring dampers 28 are provided around the high-strength frame 23 to reduce the impact of components.

[0037] In this embodiment, the spring shock absorber 28 and the double wishbone 29 together constitute a multi-axis stable and impact-resistant suspension module. During the robot's traversing or landing process, it can effectively absorb impact vibrations from multiple directions, avoiding local structural fatigue fractures caused by traditional rigid force transmission. Combined with the optimized frame and double wishbone composite suspension traversing chassis structure, it significantly improves the robot's adaptability to complex environments and enhances overall stability and impact resistance.

[0038] In one embodiment, the drone battery 22 is used to supply power to the aforementioned components.

[0039] In this embodiment, the drone battery 22, as the power core, adopts a modular design. Its installation position is carefully planned to conform to the overall layout design principle of uniform distribution of the center of gravity of modular components. While providing stable power to various components such as the central control board 11, rotary motor 14, and four-in-one ESC 16, it reduces the center of gravity shift through reasonable weight distribution, improves the robot's control stability in both land and air modes, and the modular design facilitates replacement and maintenance, which meets the requirements of the modular dual-system architecture.

[0040] In one embodiment, the four-in-one ESC 16 has multiple sets of bolt holes on its surface that connect to the carbon fiber wingplate 15.

[0041] In this embodiment, the four-in-one ESC 16 is securely connected to the carbon fiber wing plate 15 through bolt holes. This connection method makes the four-in-one ESC 16 part of the modular components of the flight system, meeting the requirements of the split and detachable structure in the modular dual-system architecture, which is convenient for maintenance and replacement. At the same time, the tight installation helps to achieve a reasonable layout of components in a limited space, improves the utilization rate of the frame space, forms local support for stress concentration areas, and enhances the overall structural stability and impact resistance.

[0042] The working principle of the amphibious robot for inspection purposes in this utility model is as follows: when the drone needs to fly, the operator sends a flight command through the remote control. After receiving the command, the central control board 11 starts the flight system. The central control board 11, relying on its independently developed integrated intelligent control platform, uses the basic functions of traditional flight control such as attitude control and navigation positioning, combined with the integrated multi-electronic component collaborative control capability, to send a signal to the four-in-one ESC 16. The four-in-one ESC precisely controls the speed of the four rotary motors 14 according to the command. The rotor 13 assembly rotates at high speed under the connection of the motor nut, generating lift to make the drone take off. Meanwhile, the GPS module 12 receives satellite positioning data in real time and transmits it to the central control board 11 for accurate positioning to prevent the drone from being lost. The optical flow meter 25 senses the surrounding environment in real time and, together with the image transmitter body 1, feeds back the environmental information to the central control board to assist in achieving hovering accuracy and autonomous attitude control, ensuring flight stability. The ammeter 21 monitors the power and current changes of the drone battery 22 in real time. If an overload or short circuit occurs, it promptly feeds back to the central control board 11, which can take protective measures such as speed reduction and power cut-off.

[0043] After the drone lands, the tires 27 contact the ground, triggering the damping system of the spring shock absorbers 28, which in turn causes the double wishbone arms 29 to move. This multi-axis linkage reduces landing vibration. At this time, the dual-path bidirectional brushed ESC 210 comes into play, controlling the speed and forward / reverse rotation of the four drive motors 26 according to the instructions issued by the central control board. The reduction motors directly drive the tires 27, enabling flexible movement of the land travel system. During the land travel process, the composite suspension damping system continues to function. The trapezoidal stabilizing structure formed by the double wishbone arms 29 works in conjunction with the spring shock absorbers 28 to effectively absorb the impact of road bumps, protect the internal electrical components of the drone, reduce wear, and extend service life. At the same time, the central control board 11 adjusts the land travel speed and direction in real time based on the information fed back by the optical flow meter 25 and other sensors to ensure stable driving in complex terrain.

[0044] When switching between air and land modes, the central control board 11, as the core control unit, coordinates the actions of the flight system and the land-based system. When switching from land-based mode to flight mode, the central control board 11 first controls the dual-path bidirectional brushed ESC 210 to stop the drive motor 26, ensuring that the land-based propulsion is completely shut off. Subsequently, the central control board sends a start signal to the four-in-one ESC 16 to gradually increase the speed of the rotary motor 14. When the lift is sufficient to overcome the weight of the aircraft, the UAV takes off smoothly. When switching from flight mode to land-based mode, the central control board 11 first controls the four-in-one ESC 16 to gradually reduce the speed of the rotary motor 14, allowing the UAV to land slowly. Once the tires 27 touch the ground, the dual-path bidirectional brushed ESC 210 of the land-based system immediately takes over the power control, controlling the drive motor 26 according to the ground conditions and operating commands to achieve land-based movement. Throughout the entire mode switching process, the central control board 11 achieves a smooth transition of the power system through precise control of each component, avoiding instability of the aircraft attitude due to power conflicts.

[0045] In addition, during the operation of the UAV, the central control board 11 continuously collects data from sensors such as the GPS module 12, optical flow meter 25, and current meter 21. Combined with the operator's instructions, it adjusts the working status of the flight system and the land system in real time. At the same time, it achieves stable circuit connection between various components through the embedded wiring channel 151, which not only ensures the accuracy of signal transmission, but also uses the wiring channel as a weight reduction hole to reduce the weight of the fuselage, ensuring that the UAV maintains a high-efficiency and stable operating state under complex environments and different mission requirements.

[0046] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An amphibious robot for inspection purposes, characterized in that, The system includes a carbon fiber wingplate (15), a rotary motor (14) fixedly connected to the upper edge of the carbon fiber wingplate (15), a rotor (13) fixedly connected to the output end of the rotary motor (14), a central control board (11) fixedly connected above the carbon fiber wingplate (15), a GPS module (12) fixedly connected above the central control board (11), a four-in-one ESC (16) fixedly installed below the carbon fiber wingplate (15), and an embedded wiring channel (151) provided on the carbon fiber wingplate (15). A high-strength frame (23) is fixedly installed below the carbon fiber wingplate (15), and the high-strength frame (23) is located on the side of the high-strength frame (23). The high-strength frame (23) is fixedly connected to the main body (1). Multiple drive motors (26) are provided on the side of the high-strength frame (23). The output ends of the drive motors (26) are all fixedly connected to the tires (27). The tires (27) are rotated by the wheel frame (211) as support. The wheel frame (211) is connected to the high-strength frame (23) by the spring shock absorber (28) and the double fork arm (29). A galvanometer (21) is fixedly installed on the top of the high-strength frame (23). A dual-channel bidirectional brushed ESC (210) is installed on the top of the galvanometer (21). An optical flow meter (25) is installed on the side of the high-strength frame (23).

2. The amphibious robot for inspection purposes according to claim 1, characterized in that, The carbon fiber wing plate (15) has holes on its surface for placing the central control plate (11), and the high-strength frame (23) has a space inside for supporting the drone battery (22).

3. The amphibious robot for inspection purposes according to claim 1, characterized in that, A crash barrier (24) is fixedly installed on one side of the high-strength frame (23) to protect its safety.

4. The amphibious robot for inspection purposes according to claim 1, characterized in that, The high-strength frame (23) has a reserved space on one side for placing the image transmitter body (1).

5. The amphibious robot for inspection purposes according to claim 1, characterized in that, The surface of the carbon fiber wing plate (15) has multiple sets of embedded wiring channels (151) for wiring connections between various components.

6. The amphibious robot for inspection purposes according to claim 1, characterized in that, The high-strength frame (23) is provided with multiple sets of spring shock absorbers (28) around its perimeter to reduce the impact of shocks on the components.

7. The amphibious robot for inspection purposes according to claim 1, characterized in that, The surface of the four-in-one ESC (16) has multiple sets of bolt holes for connection with the carbon fiber airfoil (15).

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