An amphibious robot for water quality detection

Abstract

The embodiment of the application provides a kind of amphibious robot for water quality detection, belong to robot technical field.Amphibious robot includes disc-shaped main body, main body support, propeller array, water quality detection probe and high-definition camera;Disc-shaped main body includes the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first surface of the first

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to an amphibious robot for water quality testing. Background Technology

[0002] With the development of science and technology, water pollution caused by human activities has become increasingly serious. Since water resources are inseparable from human survival, real-time monitoring of water quality is indispensable. However, most current water quality testing methods are based on manual sampling, which is then sent to the laboratory for testing. Manual sampling is slow, takes a long time, is complicated, has poor stability, and cannot obtain accurate information on water pollution in a timely manner.

[0003] While common automatic water quality monitoring stations can perform online water quality monitoring around the clock, their fixed locations mean that they cannot detect and track pollution in real time when special circumstances arise that require tracing the source of pollutants. Utility Model Content

[0004] The main objective of this application is to propose an amphibious robot for water quality testing, which is designed to be able to perform water quality testing in both aquatic and terrestrial environments.

[0005] To achieve the above objectives, this application proposes an amphibious robot for water quality testing. The amphibious robot includes a disc-shaped main body, a main body support, a propeller array, a water quality testing probe, and a high-definition camera. The disc-shaped body includes a first surface and a second surface, wherein the first surface is raised to form a circular curved surface, the second surface is a circular plane, and the junction between the first surface and the second surface is transitioned by rounded corners; The front end of the disc-shaped main body is provided with a square groove, and a circular groove is provided on the square groove, and the high-definition camera is located in the circular groove; The propeller array includes a first propeller device, a second propeller device, a third propeller device, and a fourth propeller device. The four propeller devices are arranged around the second surface of the disc-shaped body and are symmetrically distributed along the left and right center planes of the disc-shaped body. They are fixedly connected to the second surface of the disc-shaped body. In a downward view, the first propeller device is located on the right front side of the second surface, the second propeller device is located on the left front side of the second surface, the third propeller device is located on the right rear side of the second surface, and the fourth propeller device is located on the left rear side of the second surface. The main support is located at the center of the second surface of the disc-shaped main body, and the bottom surface of the main support is a smooth plane; The water quality detection probe is located at the front end of the main support.

[0006] In some embodiments, the main support includes a plurality of support ribs, which are distributed around the center of the second surface.

[0007] In some embodiments, the propeller assembly includes a propeller bracket, a shaft, a motor, a motor bracket, and a propeller; The first end of the propeller bracket is a disc with threaded holes for fixing to the disc-shaped body by screws; the second end of the propeller bracket is a U-shaped bracket. The rotating shaft is connected to the second end of the propeller bracket through a first shaft hole. The rotating shaft is rotatable about the vertical central axis of the propeller bracket and includes a horizontal section and an inclined section. The left and right outer surfaces of the motor bracket are fixedly connected to the inner surface of the U-shaped bracket through the second shaft hole, wherein the motor bracket can rotate around the axis corresponding to the second shaft hole; The side of the motor is fixedly connected to the front and rear inner surfaces of the motor bracket through the third shaft hole. The first end of the motor is fixedly connected to the inclined section. The motor can rotate around the axis corresponding to the third shaft hole. The axial direction of the outer contour cylindrical surface of the motor is perpendicular to the extension direction of the inclined section. The propeller is connected to the second end of the motor, wherein the propeller is rotatable about the axis of the cylindrical surface of the outer contour of the motor.

[0008] In some embodiments, when the amphibious robot is in a straight-forward working posture underwater, the shafts of the first propeller assembly, the second propeller assembly, the third propeller assembly, and the fourth propeller assembly are all rotated to face the front end of the amphibious robot in the direction of the extension of the horizontal section. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is directed toward the front end of the amphibious robot, which is used to complete underwater straight-line forward movement.

[0009] In some embodiments, when the amphibious robot is in a straight backward working posture underwater, the shafts of the first propeller assembly, the second propeller assembly, the third propeller assembly, and the fourth propeller assembly are all rotated to face the rear end of the amphibious robot in the direction of the extension of the horizontal section. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is directed toward the rear end of the amphibious robot to complete the underwater straight backward movement.

[0010] In some embodiments, when the amphibious robot is in a right-lateral working posture underwater, the shafts of the first propeller device and the third propeller device are both rotated to the direction of extension of the horizontal section toward the front end of the amphibious robot, and the shafts of the second propeller device and the fourth propeller device are both rotated to the direction of extension of the horizontal section toward the left end of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction generates a clockwise rotational torque relative to the vertical centerline of the amphibious robot, which is used to complete the underwater rightward translational movement.

[0011] In some embodiments, when the amphibious robot is in a leftward translational working posture underwater, the shafts of the second and fourth propeller devices rotate to the direction of extension of the horizontal section facing the front end of the amphibious robot, and the shafts of the first and third propeller devices rotate to the direction of extension of the horizontal section facing the right end of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction generates a rotational torque in a counterclockwise direction relative to the vertical centerline of the amphibious robot, which is used to complete the underwater leftward translational movement.

[0012] In some embodiments, when the amphibious robot is in an underwater surfacing working posture, the shaft of the first propeller device rotates to the direction of extension of the horizontal section facing the right rear direction of the amphibious robot, the shaft of the second propeller device rotates to the direction of extension of the horizontal section facing the left rear direction of the amphibious robot, the shaft of the third propeller device rotates to the direction of extension of the horizontal section facing the right front direction of the amphibious robot, and the shaft of the fourth propeller device rotates to the direction of extension of the horizontal section facing the left front direction of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down view, the resultant force of the thrust in the vertical direction is greater than the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is zero.

[0013] In some embodiments, when the amphibious robot is in an underwater diving working posture, the shaft of the first propeller device rotates to the direction of extension of the horizontal section facing the right rear direction of the amphibious robot, the shaft of the second propeller device rotates to the direction of extension of the horizontal section facing the left rear direction of the amphibious robot, the shaft of the third propeller device rotates to the direction of extension of the horizontal section facing the right front direction of the amphibious robot, and the shaft of the fourth propeller device rotates to the direction of extension of the horizontal section facing the left front direction of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is less than the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is zero.

[0014] In some embodiments, when the amphibious robot turns to a working posture underwater, the shaft of the first propeller device rotates to the direction of extension of the horizontal section facing the rear end of the amphibious robot, the shaft of the second propeller device rotates to the direction of extension of the horizontal section facing the left end of the amphibious robot, the shaft of the third propeller device rotates to the direction of extension of the horizontal section facing the right end of the amphibious robot, and the shaft of the fourth propeller device rotates to the direction of extension of the horizontal section facing the front end of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction generates a rotational torque in a counterclockwise direction relative to the vertical centerline of the amphibious robot, which is used to complete underwater turning maneuvers.

[0015] The embodiments of this application include at least the following beneficial effects: This application provides an amphibious robot for water quality testing. The amphibious robot includes a disc-shaped body, a body support, a propeller array, a water quality testing probe, and a high-definition camera. The disc-shaped body includes a first surface and a second surface. The first surface is raised to form a circular curved surface, and the second surface is a circular plane. The junction between the first surface and the second surface is transitioned by rounded corners, making the entire outer surface of the disc-shaped body relatively smooth, resulting in less resistance during underwater movement and facilitating underwater operations. The propeller array includes a first propeller device and a second propeller... The disc-shaped main body consists of a third propeller assembly, a fourth propeller assembly, and four propeller assemblies arranged around the second surface of the disc-shaped main body. These propeller assemblies are symmetrically distributed along the left and right central planes of the disc-shaped main body and are fixedly connected to the second surface of the disc-shaped main body, enabling various motion transitions. The main support is located at the center of the second surface of the disc-shaped main body, and the bottom surface of the main support is a smooth plane, allowing it to be placed stably on the ground. The water quality detection probe is located at the front end of the main support. The front end of the disc-shaped main body has a square groove, and a circular groove is located on the square groove. A high-definition camera is located in the circular groove, enabling water quality detection. Attached Figure Description

[0016] Figure 1 This is a front view of the amphibious robot provided in the embodiments of this application; Figure 2 This is a perspective view of the amphibious robot provided in the embodiments of this application; Figure 3A This is a schematic diagram of the left and right central symmetry planes of the amphibious robot provided in the embodiments of this application; Figure 3B This is a schematic diagram of the front and rear central symmetry planes of the amphibious robot provided in the embodiments of this application; Figure 4A This is a front view of the propeller device provided in the embodiment of this application; Figure 4B This is a side view of the propeller device provided in the embodiment of this application; Figure 4C This is a perspective view of the propeller device provided in the embodiments of this application; Figure 5 This is a schematic diagram of the motor shaft in the propeller device provided in the embodiments of this application; Figure 6A This is a front view of the amphibious robot in a straight-forward state provided in the embodiments of this application; Figure 6B This is a side view of the amphibious robot in a straight-forward state provided in the embodiments of this application; Figure 6C This is a bottom view of the amphibious robot in a straight-forward state provided in the embodiments of this application; Figure 6DThis is a perspective view of the amphibious robot in a straight-moving state provided in the embodiments of this application; Figure 7A This is a front view of the amphibious robot in a straight backward state provided in the embodiments of this application; Figure 7B This is a side view of the amphibious robot in a straight backward state provided in the embodiments of this application; Figure 7C This is a bottom view of the amphibious robot in a straight backward state provided in the embodiments of this application; Figure 7D This is a perspective view of the amphibious robot in a straight backward state provided in the embodiments of this application; Figure 8A This is a front view of the amphibious robot in a right translation state provided in the embodiments of this application; Figure 8B This is a side view of the amphibious robot in a right translation state provided in the embodiments of this application; Figure 8C This is a bottom view of the amphibious robot in a right translation state provided in the embodiments of this application; Figure 8D This is a perspective view of the amphibious robot in a right translation state provided in the embodiments of this application; Figure 9A This is a front view of the amphibious robot in a left translation state provided in the embodiments of this application; Figure 9B This is a side view of the amphibious robot in a left translation state provided in the embodiments of this application; Figure 9C This is a bottom view of the amphibious robot in a left translation state provided in the embodiments of this application; Figure 9D This is a perspective view of the amphibious robot in its left translation state provided in the embodiments of this application; Figure 10A This is a front view of the amphibious robot in its surfacing and diving states provided in the embodiments of this application; Figure 10B This is a side view of the amphibious robot in its surfacing and diving states provided in the embodiments of this application; Figure 10C This is a bottom view of the amphibious robot in its surfacing and diving states provided in the embodiments of this application; Figure 10D This is a perspective view of the amphibious robot in its surfacing and diving states provided in the embodiments of this application; Figure 11A This is a front view of the amphibious robot in a stationary turning state provided in the embodiments of this application; Figure 11B This is a side view of the amphibious robot in a stationary turning state provided in the embodiments of this application; Figure 11C This is a bottom view of the amphibious robot in a stationary turning state provided in the embodiments of this application; Figure 11D This is a perspective view of the amphibious robot in a stationary turning state provided in the embodiments of this application. Detailed Implementation

[0017] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0018] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0019] In the description of this utility model, the use of terms such as "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated.

[0020] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0021] Before providing a detailed description of the embodiments of this application, some related technologies involved in the embodiments of this application will be described first.

[0022] In related technologies, water quality testing often takes the form of manual sampling, the construction of automatic water quality monitoring stations, and water quality testing vessels. Among these, manual sampling has disadvantages such as large testing systems, complex operation, poor stability, and inability to obtain accurate information on water pollution in a timely manner. The construction of automatic water quality monitoring stations has disadvantages such as fixed site locations, difficulty in real-time detection and tracking of pollution, and high construction costs. Water quality testing vessels are expensive and are prone to generating secondary pollutants such as waste liquid and ship exhaust.

[0023] Since water quality testing still requires manual operation and suffers from inaccuracies, the research on water quality monitoring robots is of great significance. This application designs a water quality monitoring robot as an important tool to assist humans in water quality testing, and develops an amphibious version of the robot to overcome the limitation that robots can only work underwater.

[0024] The following reference Figure 1 and Figure 2 This utility model embodiment proposes an amphibious robot for water quality testing, including a disc-shaped main body 10, a main body support 20, a propeller array 30, a water quality testing probe 40, and a high-definition camera 50.

[0025] The disc-shaped body 10 includes a first surface and a second surface, wherein the first surface is raised to form a circular curved surface, the second surface is a circular plane, and the junction between the first surface and the second surface is connected by a rounded corner. The front end of the disc-shaped main body 10 is provided with a square groove, and a circular groove is provided on the square groove. The high-definition camera 50 is located in the circular groove. The propeller array 30 includes a first propeller device, a second propeller device, a third propeller device, and a fourth propeller device. The four propeller devices are arranged around the second surface of the disc-shaped body 10 and are symmetrically distributed along the left and right center planes of the disc-shaped body 10. They are fixedly connected to the second surface of the disc-shaped body 10. In the upward view, the first propeller device is located on the right front side of the second surface, the second propeller device is located on the left front side of the second surface, the third propeller device is located on the right rear side of the second surface, and the fourth propeller device is located on the left rear side of the second surface. The main support 20 is located at the center of the second surface of the disc-shaped main body 10, and the bottom surface of the main support 20 is a smooth plane; The water quality testing probe 40 is located at the front end of the main support.

[0026] In this embodiment, the amphibious robot adopts a symmetrical structural design, such as Figure 3A As shown, the vertical planes along the left and right centerlines of the disk-shaped main body are represented by dashed lines and labeled as "left and right central symmetry planes". Figure 3B As shown, the vertical plane along the front and rear centerlines of the disc-shaped main body 10 is represented by a dashed line and labeled as the "front and rear central symmetry plane". The left and right central symmetry planes and the front and rear central symmetry planes are perpendicular to each other, and their intersection point is the geometric center of the robot, which together constitutes the symmetry reference of the robot.

[0027] The disc-shaped main body 10 is generally disc-shaped. Its upper surface, as the first surface, is raised to a certain arc to form a circular curved surface, and its lower bottom surface, as the second surface, is a circular plane. The junction between the upper circular curved surface and the lower circular plane is a rounded transition, making the outer surface of the entire disc-shaped main body 10 relatively smooth, with less resistance during underwater movement, which is convenient for underwater operations.

[0028] The main support 20 enhances the robot's overall strength, making it less prone to damage. It also lowers the robot's center of gravity, bringing it closer to its geometric center, thus improving overall stability. The smooth bottom surface of the main support 20 allows the robot to rest stably on the ground when not in operation, preventing the propeller array 30 from contacting the ground and affecting its performance.

[0029] Reference Figure 6C From a low-angle view, the four propellers in the propeller array 30 are arranged around the bottom surface of the disc-shaped main body 10, and are symmetrically distributed along the left and right central symmetrical planes. They are fixed to the bottom surface of the disc-shaped main body 10 by several screws. The four propellers of the robot are labeled as the first propeller 61, the second propeller 62, the third propeller 63, and the fourth propeller 64.

[0030] A water quality testing probe 40 is located at the front end of the main support 20. A square groove is opened at the front end of the disc-shaped main body 10, and a circular groove is provided on the groove, in which a high-definition camera 50 is located.

[0031] In some embodiments, the main support 20 includes a plurality of support ribs, which are distributed around the center of the second surface.

[0032] Specifically, the main support 20 consists of four supporting stiffeners. The supporting stiffeners can enhance the strength and rigidity of the structure and effectively prevent structural deformation. The four supporting stiffeners are distributed around the center of the bottom surface of the disc-shaped main body 10.

[0033] It is understood that the number of supporting stiffeners that make up the main support 20 can be set according to the actual situation. This embodiment is only exemplary and does not impose any specific limitations.

[0034] Reference Figures 4A to 4C In some embodiments, the propeller assembly includes a propeller bracket 31, a shaft 32, a motor 34, a motor bracket 33, and a propeller 35; The first end of the propeller bracket 31 is a disc with a threaded hole for fixing to the disc-shaped body 10 by screws. The second end of the propeller bracket 31 is a U-shaped bracket. The rotating shaft 32 is connected to the second end of the propeller support 31 through the first shaft hole. The rotating shaft 32 can rotate around the vertical central axis of the propeller support 33. The rotating shaft 32 includes a horizontal section and an inclined section. The left and right outer surfaces of the motor bracket 33 are fixedly connected to the inner surface of the U-shaped bracket through the second shaft hole. The motor bracket 33 can rotate around the axis corresponding to the second shaft hole. The side of the motor 34 is fixedly connected to the front and rear inner surfaces of the motor bracket 33 through the third shaft hole. The first end of the motor 34 is fixedly connected to the inclined section. The motor 34 can rotate around the axis corresponding to the third shaft hole. The axial direction of the outer contour cylindrical surface of the motor 34 is perpendicular to the extension direction of the inclined section. The propeller 35 is connected to the second end of the motor 34, wherein the propeller 35 can rotate about the axis of the outer cylindrical surface of the motor 34.

[0035] Specifically, the main components of the propeller assembly include a propeller bracket 31, a rotating shaft 32, a motor bracket 33, a motor 34, and a propeller 35. The upper end of the propeller bracket 31, serving as the first end, is a disc with threaded holes, allowing the propeller assembly to be fixed to the disc-shaped body 10 with screws. The lower end of the propeller bracket 31, serving as the second end, is a U-shaped bracket.

[0036] The rotating shaft 32 is connected to the lower end plane of the propeller support 31 through the first shaft hole, so that the rotating shaft 32 can rotate around the vertical central axis of the propeller support 31. The main body of the rotating shaft 32 is divided into two sections, a horizontal section and an inclined section. The horizontal section extends in a direction parallel to the horizontal plane, and the inclined section extends in a direction at a 30° angle to the horizontal plane and is biased downwards from the horizontal plane.

[0037] It is understandable that the angle between the inclined section and the horizontal plane can be set according to actual needs. Preferably, the angle range is controlled between 10° and 60°.

[0038] The motor bracket 33 is a square bracket. The left and right outer surfaces of the motor bracket 33 are fixed to the inner surface of the U-shaped bracket through the second shaft hole, so that the motor bracket 33 can rotate around the axis of the shaft hole.

[0039] The side of motor 34 is fixed to the front and rear inner surfaces of motor bracket 33 via a third shaft hole, allowing motor 34 to rotate around the axis of this shaft hole. The upper end of motor 34, serving as the first end, is fixed to the inclined section of rotating shaft 32, with the axis of the outer cylindrical surface of motor 34 perpendicular to the extension direction of the inclined section of rotating shaft 32. The lower end of motor 34, serving as the second end, has a rotating shaft for connecting to propeller 35, allowing propeller 35 to rotate around the axis of the outer cylindrical surface of motor 34. When the shaft rotates 360°, the apex angle of the conical surface swept by the motor axis is 60°.

[0040] It should be noted that the angle of the motor axis is designed to ensure that the thrust it generates can be decomposed into horizontal and vertical components. A schematic diagram of the axis of the motor's outer cylindrical surface is shown below. Figure 5 As shown.

[0041] In some embodiments, the amphibious robot can perform various motion transitions underwater through the coordinated operation of its four propellers. A schematic diagram of the underwater straight-line forward movement of an amphibious robot used for water quality testing is shown below. Figures 6A to 6D The shafts 32 of the first propeller assembly 61, the second propeller assembly 62, the third propeller assembly 63 and the fourth propeller assembly 64 are all rotated to the direction of the extension of the horizontal section facing the front end of the amphibious robot. The propellers 35 of the first propeller assembly 61, the second propeller assembly 62, the third propeller assembly 63 and the fourth propeller assembly 64 rotate to generate thrust along the axis of their respective motors 34. In a top-down view, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is directed toward the front end of the amphibious robot to complete the underwater straight forward movement.

[0042] Specifically, taking the direction of the water quality detection probe 40 and the high-definition camera 50 as the front direction of the amphibious robot, when the robot moves in a straight line underwater, the shafts 32 of the four propeller devices all rotate to their horizontal extension direction facing the front direction of the robot as a whole, so that the projection of the axis of the motor 34 and the vertical center line of the robot on the left and right central symmetry planes of the robot as a 30° angle and biased towards the lower rear end of the robot.

[0043] Furthermore, when the shafts 32 of all four propellers rotate to the set orientation, the four propellers 35 begin to rotate, generating thrust along the axis of their respective motors 34. The resultant thrust is at a 30° angle to the projection of the robot's vertical centerline onto the left-right central symmetry plane and is biased towards the front end of the robot. The vertically upward component of the resultant thrust is used to balance the robot's overall weight, while the horizontally forward component is used to propel the robot forward in a straight line, completing the underwater straight-line movement.

[0044] In some embodiments, the underwater linear backward working posture of an amphibious robot used for water quality testing is illustrated, with reference to... Figures 7A to 7D The shafts 32 of the first propeller device 61, the second propeller device 62, the third propeller device 63 and the fourth propeller device 64 are all rotated to the direction of the extension of the horizontal section towards the rear end of the amphibious robot. The propellers 35 of the first propeller assembly 61, the second propeller assembly 62, the third propeller assembly 63 and the fourth propeller assembly 64 rotate to generate thrust along the axis of their respective motors 34. In a top-down view, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is directed toward the rear end of the amphibious robot to complete the underwater straight backward movement.

[0045] Specifically, taking the opposite direction of the front end of the amphibious robot as the rear end direction, when the robot moves backward in a straight line underwater, the shafts 32 of the four propeller devices all rotate to the direction of their horizontal extension towards the rear end of the robot as a whole, so that the projection of the axis of the motor 34 and the vertical center line of the robot on the left and right central symmetry planes of the robot as a 30° angle and biased towards the lower front end of the robot as a whole.

[0046] Furthermore, when the shafts 32 of the four propeller devices are all rotated to the set orientation, the four propellers 35 begin to rotate, generating thrust along the axis of their respective motors 34. The resultant force of the thrust forms a 30° angle with the projection of the robot's vertical centerline onto the left and right central symmetry planes of the robot and is biased towards the upper rear end of the robot. The vertically upward component of the resultant force is used to balance the overall weight of the robot, and the horizontally backward component is used to propel the robot backward in a straight line, completing the underwater straight backward movement.

[0047] In some embodiments, the underwater right translational working posture of an amphibious robot used for water quality testing is illustrated, with reference to... Figures 8A to 8D When the amphibious robot is in a right-side working posture underwater, the shafts 32 of the first propeller device 61 and the third propeller device 63 are rotated to the horizontal extension direction facing the front end of the amphibious robot, and the shafts 32 of the second propeller device 62 and the fourth propeller device 64 are rotated to the horizontal extension direction facing the left end of the amphibious robot. The propellers 35 of the first propeller assembly 61, the second propeller assembly 62, the third propeller assembly 63, and the fourth propeller assembly 64 rotate to generate thrust along the axis of their respective motors 34. In a top-down view, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction generates a rotational torque relative to the vertical centerline of the amphibious robot in a clockwise direction, which is used to complete the underwater rightward translational movement.

[0048] Specifically, taking the left side of the amphibious robot's front end as the left end direction from a top-down perspective, when the robot turns right underwater, the shaft 32 of the first propeller device 61 and the second propeller device 63 rotates to the direction of its horizontal extension facing the front end of the robot as a whole, so that the projection of the motor 34 axis direction and the vertical center line direction of the robot on the left and right central symmetry planes of the robot as a whole forms a 30° angle and is biased towards the lower rear end of the robot as a whole.

[0049] The shaft 32 of the second propeller device 62 and the fourth propeller 64 rotates to face the left end of the robot body, so that the projection of the axis of the motor 34 onto the front and rear center symmetry plane of the robot body forms a 30° angle with the vertical center line of the robot body and is biased towards the lower right end of the robot body.

[0050] Furthermore, when the shafts 32 of all four propeller units are rotated to the set orientation, the four propellers 35 begin to rotate, generating thrust along the axis of their respective motors 34.

[0051] The resultant thrust generated by the first propeller device 61 and the third propeller device 63 forms a 30° angle with the projection of the robot's overall vertical centerline onto the left and right central symmetry planes of the robot, and is biased towards the front end of the robot. This can generate two horizontal forward components and two vertical upward components.

[0052] The resultant thrust generated by the second propeller device 62 and the fourth propeller device 64 forms a 30° angle with the projection of the robot's overall vertical centerline onto the front and rear central symmetry plane of the robot, and is biased towards the upper left end of the robot. This can generate two horizontal leftward components and two vertical upward components.

[0053] Four vertically upward and equal-sized force components are used to balance the robot's overall weight. The horizontal forward and horizontal leftward force components generate a clockwise torque relative to the robot's overall vertical centerline from a top-down perspective, completing the underwater rightward translation movement.

[0054] In some embodiments, the underwater left translational working posture of an amphibious robot used for water quality testing is illustrated, with reference to... Figures 9A to 9D When the amphibious robot is in a leftward translational working posture underwater, the shafts of the second and fourth propeller devices rotate to the horizontal extension direction facing the front end of the amphibious robot, while the shafts of the first and third propeller devices rotate to the horizontal extension direction facing the right end of the amphibious robot. The propellers 35 of the first propeller assembly 61, the second propeller assembly 62, the third propeller assembly 63, and the fourth propeller assembly 64 rotate to generate thrust along the axis of their respective motors 34. In a top-down view, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction generates a rotational torque in the counterclockwise direction relative to the vertical centerline of the amphibious robot, which is used to complete the underwater left horizontal movement.

[0055] Specifically, taking the right side of the amphibious robot's front end as the right end direction from a top-down perspective, when the robot turns left underwater, the shafts 32 of the second propeller device 62 and the fourth propeller device 64 rotate to face the front end of the robot as a whole, so that the projection of the axis of the motor 34 onto the left and right central symmetry plane of the robot as a whole forms a 30° angle and is biased towards the lower rear end of the robot.

[0056] The shafts 32 of the first propeller device 61 and the third propeller device 63 rotate so that their horizontal extension direction faces the right end of the robot as a whole, so that the projection of the axis of the motor 34 onto the front and rear center symmetry plane of the robot as a whole forms a 30° angle and is biased towards the lower left end of the robot as a whole.

[0057] Furthermore, when the shafts 32 of all four propeller units are rotated to the set orientation, the four propellers 35 begin to rotate, generating thrust along the axis of their respective motors 34.

[0058] The resultant thrust generated by the second propeller device 62 and the fourth propeller device 64 forms a 30° angle with the projection of the robot's overall vertical centerline onto the left and right central symmetry planes of the robot, and is biased towards the front end of the robot. This can generate two horizontal forward components and two vertical upward components.

[0059] The resultant thrust generated by the first propeller device 61 and the third propeller device 63 forms a 30° angle with the projection of the robot's overall vertical centerline onto the front and rear central symmetry plane of the robot, and is biased towards the upper right end of the robot. This can generate two horizontal rightward components and two vertical upward components.

[0060] Four vertically upward and equal-sized force components are used to balance the robot's overall weight. The horizontal forward and horizontal rightward force components generate a torque in the counterclockwise direction relative to the robot's overall vertical centerline from a top-down perspective, completing the underwater left translation movement.

[0061] In some embodiments, the underwater surfacing working posture of an amphibious robot used for water quality testing is illustrated, with reference to... Figures 10A to 10D When the amphibious robot is in an underwater working posture, the shaft 32 of the first propeller device 61 rotates to the horizontal extension direction facing the right rear direction of the amphibious robot, the shaft 32 of the second propeller device 62 rotates to the horizontal extension direction facing the left rear direction of the amphibious robot, the shaft 32 of the third propeller device 63 rotates to the horizontal extension direction facing the right front direction of the amphibious robot, and the shaft 32 of the fourth propeller device 64 rotates to the horizontal extension direction facing the left front direction of the amphibious robot. The propellers 35 of the first propeller assembly 61, the second propeller assembly 62, the third propeller assembly 63 and the fourth propeller assembly 64 rotate to generate thrust along the axis of their respective motors 34. In a top-down view, the resultant force of the thrust in the vertical direction is greater than the gravity of the amphibious robot, and the resultant force of the thrust in the horizontal direction is equal to zero.

[0062] Specifically, when the robot rises from underwater, the shaft 32 of the first propeller device 61 rotates to a direction that is 45° to the left and right central symmetry plane of the robot and biased towards the right rear of the robot. This causes the axis of the motor 34 to face the left front end of the robot and biased towards the lower end of the horizontal plane. The angles formed with the left and right central symmetry plane, the front and rear central symmetry plane and the horizontal plane of the robot are 45°, 45° and 60° respectively. When the propeller 35 starts to rotate, it generates a thrust along the axis of its motor 34, producing a vertically upward force and a horizontal force to the right rear.

[0063] The shaft 32 of the second propeller device 62 rotates to a direction in which its horizontal extension is 45° to the left and right central symmetry plane of the robot as a whole and biased towards the left rear of the robot as a whole. This causes the axis of the motor 34 to be oriented towards the right front end of the robot as a whole and biased towards the lower end of the horizontal plane. The angles formed with the left and right central symmetry plane, the front and rear central symmetry plane and the horizontal plane of the robot as a whole are 45°, 45° and 60° respectively. When the propeller 35 starts to rotate, it generates a thrust along the axis of its motor 34, generating a vertically upward force and a horizontal force to the left rear.

[0064] The shaft 32 of the third propeller device 63 rotates to the direction of its horizontal extension, which is 45° to the left and right central symmetry plane of the robot and biased towards the right front of the robot. This causes the axis of the motor 34 to face the left rear end of the robot and biased towards the lower end of the horizontal plane. The angles formed with the left and right central symmetry plane, the front and rear central symmetry plane and the horizontal plane of the robot are 45°, 45° and 60° respectively. When the propeller 35 starts to rotate, it generates a thrust along the axis of its motor 34, producing a vertically upward and horizontally forward-right component force.

[0065] The shaft 32 of the fourth propeller device 64 rotates to the direction of its horizontal extension, which is 45° to the left and right central symmetry plane of the robot and biased towards the left front of the robot. This causes the axis of the motor 34 to face the right rear end of the robot and biased towards the lower end of the horizontal plane. The angles formed with the left and right central symmetry plane, the front and rear central symmetry plane and the horizontal plane of the robot are 45°, 45° and 60° respectively. When the propeller 35 starts to rotate, it generates a thrust along the axis of its motor 34, producing a vertically upward component force and a horizontally forward-left component force.

[0066] The four propellers generate four horizontal forces that balance each other, while the four vertical forces balance the robot's overall weight and provide vertical lift, propelling the robot vertically upward to complete the underwater ascent.

[0067] In some embodiments, the underwater diving posture of an amphibious robot used for water quality testing is illustrated, with reference to... Figures 10A to 10D The first propeller device 61's shaft 32 rotates to the horizontal extension direction facing the right rear direction of the amphibious robot, the second propeller device 62's shaft 32 rotates to the horizontal extension direction facing the left rear direction of the amphibious robot, the third propeller device 63's shaft 32 rotates to the horizontal extension direction facing the right front direction of the amphibious robot, and the fourth propeller device 64's shaft 32 rotates to the horizontal extension direction facing the left front direction of the amphibious robot. The propellers of the first propeller assembly 61, the second propeller assembly 62, the third propeller assembly 63, and the fourth propeller assembly 64 generate thrust along the axis of their respective motors 34 when rotating. In a top-down view, the resultant force of the thrust in the vertical direction is less than the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is zero.

[0068] Specifically, when the robot is diving underwater, all four propellers maintain the same orientation as when it is surfacing underwater. The rotation speed of each corresponding propeller 35 decreases, resulting in less thrust. At this time, the combined force of the four vertically upward components is less than the overall weight of the robot, making the total resultant force vertically downward. The four horizontal components are balanced with each other, which keeps the robot stable and prevents it from tipping over. Under the action of the force, the robot moves vertically downward, completing the underwater diving action.

[0069] In some embodiments, the underwater in-situ turning working posture of an amphibious robot used for water quality testing is illustrated, with reference to... Figures 11A to 11D The first propeller device 61 has its shaft 32 rotated so that the extension direction of the horizontal section faces the rear end of the amphibious robot; the second propeller device 62 has its shaft 32 rotated so that the extension direction of the horizontal section faces the left end of the amphibious robot; the third propeller device 63 has its shaft 32 rotated so that the extension direction of the horizontal section faces the right end of the amphibious robot; and the fourth propeller device 64 has its shaft 32 rotated so that the extension direction of the horizontal section faces the front end of the amphibious robot. The propellers 35 of the first propeller assembly 61, the second propeller assembly 62, the third propeller assembly 63, and the fourth propeller assembly 64 rotate to generate thrust along the axis of their respective motors 34. In a top-down view, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction generates a rotational torque in a counterclockwise direction relative to the vertical centerline of the amphibious robot, which is used to complete the underwater turning maneuver.

[0070] Specifically, when the robot turns counterclockwise in place underwater, the shafts 32 of the first propeller device 61, the second propeller device 62, the third propeller device 63, and the fourth propeller device 64 rotate counterclockwise by 180°, 90°, 270°, and 0° respectively, based on their positions in the underwater straight-forward posture. This makes the axis of each of their motors 34 form a 30° angle with the vertical center line of the robot as a whole, and they are respectively biased towards the front, right, left, and rear ends of the robot as a whole.

[0071] Furthermore, when the shafts 32 of all four propeller units are rotated to the set orientation, the four propellers 35 begin to rotate, generating thrust along the axis of their respective motors 34.

[0072] Each of the four propellers generates a vertically upward component force to balance the overall weight of the robot, and also generates a horizontal component force that is horizontally backward, horizontally to the right, horizontally to the left, and horizontally backward. The four components can be combined to form a bending moment about the vertical center line of the robot in a counterclockwise direction when viewed from above, driving the robot to rotate counterclockwise and complete the underwater counterclockwise turning action.

[0073] Understandably, when the robot turns clockwise underwater, it only needs to rotate the shafts 32 of the four propeller devices 180° from their position in the underwater counterclockwise turning posture.

[0074] It should be noted that the projection angles of the motor axis direction and the robot's vertical centerline direction in each plane in the above embodiments are not limited to the specific angles described, but can also be other angles, as long as the following conditions are met: When moving forward or backward, the resultant direction of the horizontal component forces of the four propellers must be consistent with the direction of motion, and the sum of the vertical component forces must balance the robot's gravity; when moving left or right, the horizontal component forces of the propellers on both sides must form corresponding rotational torques, while the sum of the vertical component forces remains balanced; when floating or diving, the horizontal component forces must cancel each other out, and the sum of the vertical component forces must be greater than or less than gravity; when turning in place, the horizontal component forces must form rotational torques around the vertical centerline, and the sum of the vertical component forces must balance gravity. Preferably, the angle range is controlled between 10° and 60°, which can ensure both force efficiency and maintain the stability of the robot body.

[0075] The following detailed description and explanation of the embodiments of this utility model are provided in conjunction with specific application examples.

[0076] Taking the tracking of pollution sources as an example, suppose a chemical raw material pipeline ruptures and a large amount of pollution seeps into the water body. In order to understand the spread of pollutants and the situation of pollution deposition, the amphibious robot for water quality testing provided in this application embodiment is placed in the water.

[0077] Upon entering the water area, the robot immediately begins tracking pollutants. Through the water quality detection probe 40, it continuously analyzes the pollutant content and physicochemical indicators in the water, quickly completing on-site sampling. The high-definition camera 50 can not only assist the water quality detection probe 40 in improving the accuracy of pollution source location by capturing underwater images in real time, but also distinguish between passable areas and obstacles by capturing underwater images, and adjust the attitude of the propeller array 30 in a timely manner to switch movement paths.

[0078] For example, after the amphibious robot used for water quality testing enters the water area, it first adjusts the orientation of the shafts of each propeller device in the propeller array 30 to enter the underwater turning working posture, and rotates the body in place for one revolution to perform an omnidirectional scan, complete the preliminary pollution detection, and quickly locate the approximate direction of pollution.

[0079] During the rotation, the water quality detection probe 40 samples at a preset sampling frequency to detect changes in pollutant concentration, while the high-definition camera 50 records underwater images to assist in locating the pollution source.

[0080] Based on the scanning results, the robot can lock onto the tracking area and adjust its working posture. Depending on the orientation and height of the tracking area relative to the robot's position, the robot can switch between six working postures: moving forward in a straight line underwater, moving backward in a straight line underwater, moving left and right underwater, surfacing underwater, and diving underwater, in order to move towards the pollutants.

[0081] After completing the fixed-point sampling of a tracking area, the robot turns underwater to continue determining the next tracking area, enabling real-time tracking of pollution sources without manual sampling and completing multiple specific water quality testing tasks.

[0082] In summary, the amphibious robot for water quality testing described in this application can perform various motion transitions in water through the coordinated operation of four propeller units. These four propeller units, via propeller supports, a 360° rotatable shaft, and a rotatable motor support, allow for independent angle adjustment of each propeller, eliminating the need for fixed "forward / backward" or "reverse" movements. The angles of the four propellers can be flexibly set according to motion requirements. The advantages of this design are: it enables more complex movements (such as underwater lateral movement and precise turning in place) through independent angle adjustment, adapting to scenarios such as tracking pollutants and avoiding obstacles in water quality testing; simultaneously, through precise force synthesis, it can maintain stability during complex movements, avoiding attitude fluctuations caused by water flow interference. Compared to the fixed layout of bidirectional thrusters, its motion flexibility and environmental adaptability are significantly improved.

[0083] By adding a main support, the overall strength of the robot is enhanced, and its center of gravity is adjusted, enabling it to adapt better to working in both water and land environments. The bottom surface of the main support features a smooth, flat design, which further protects the robot, allowing it to rest stably on the ground when not in operation, preventing direct contact between the propeller array and the ground, thus avoiding any impact on the propeller's performance.

[0084] In addition, the high-definition camera and detection probe can complete a number of specific water quality tests, replacing manual sampling.

[0085] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. An amphibious robot for water quality testing, characterized in that, The amphibious robot includes a disc-shaped main body, a main body support, a propeller array, a water quality detection probe, and a high-definition camera; The disc-shaped body includes a first surface and a second surface, wherein the first surface is raised to form a circular curved surface, the second surface is a circular plane, and the junction between the first surface and the second surface is transitioned by rounded corners; The front end of the disc-shaped main body is provided with a square groove, and a circular groove is provided on the square groove, and the high-definition camera is located in the circular groove; The propeller array includes a first propeller device, a second propeller device, a third propeller device, and a fourth propeller device. The four propeller devices are arranged around the second surface of the disc-shaped body and are symmetrically distributed along the left and right center planes of the disc-shaped body. They are fixedly connected to the second surface of the disc-shaped body. In a downward view, the first propeller device is located on the right front side of the second surface, the second propeller device is located on the left front side of the second surface, the third propeller device is located on the right rear side of the second surface, and the fourth propeller device is located on the left rear side of the second surface. The main support is located at the center of the second surface of the disc-shaped main body, and the bottom surface of the main support is a smooth plane; The water quality detection probe is located at the front end of the main support.

2. The amphibious robot according to claim 1, characterized in that, The main support includes multiple supporting ribs, which are distributed around the center of the second surface.

3. The amphibious robot according to claim 1, characterized in that, The propeller assembly includes a propeller bracket, a rotating shaft, a motor, a motor bracket, and a propeller. The first end of the propeller bracket is a disc with threaded holes for fixing to the disc-shaped body by screws; the second end of the propeller bracket is a U-shaped bracket. The rotating shaft is connected to the second end of the propeller bracket through a first shaft hole. The rotating shaft is rotatable about the vertical central axis of the propeller bracket and includes a horizontal section and an inclined section. The left and right outer surfaces of the motor bracket are fixedly connected to the inner surface of the U-shaped bracket through the second shaft hole, wherein the motor bracket can rotate around the axis corresponding to the second shaft hole; The side of the motor is fixedly connected to the front and rear inner surfaces of the motor bracket through the third shaft hole. The first end of the motor is fixedly connected to the inclined section. The motor can rotate around the axis corresponding to the third shaft hole. The axial direction of the outer contour cylindrical surface of the motor is perpendicular to the extension direction of the inclined section. The propeller is connected to the second end of the motor, wherein the propeller is rotatable about the axis of the cylindrical surface of the outer contour of the motor.

4. The amphibious robot according to claim 3, characterized in that, When the amphibious robot is in a straight-line forward working posture underwater, the shafts of the first propeller device, the second propeller device, the third propeller device, and the fourth propeller device are all rotated to face the front end of the amphibious robot in the direction of the extension of the horizontal section. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is directed toward the front end of the amphibious robot, which is used to complete underwater straight-line forward movement.

5. The amphibious robot according to claim 3, characterized in that, When the amphibious robot is in a straight backward working posture underwater, the shafts of the first propeller device, the second propeller device, the third propeller device, and the fourth propeller device are all rotated to face the rear end of the amphibious robot in the direction of the extension of the horizontal section. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is directed toward the rear end of the amphibious robot to complete the underwater straight backward movement.

6. The amphibious robot according to claim 3, characterized in that, When the amphibious robot is in a right-side translational working posture underwater, the shafts of the first propeller device and the third propeller device are both rotated to the direction of extension of the horizontal section facing the front end of the amphibious robot, and the shafts of the second propeller device and the fourth propeller device are both rotated to the direction of extension of the horizontal section facing the left end of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction generates a clockwise rotational torque relative to the vertical centerline of the amphibious robot, which is used to complete the underwater rightward translational movement.

7. The amphibious robot according to claim 3, characterized in that, When the amphibious robot is in a leftward translational working posture underwater, the shafts of the second and fourth propeller devices rotate to the direction of extension of the horizontal section facing the front end of the amphibious robot, and the shafts of the first and third propeller devices rotate to the direction of extension of the horizontal section facing the right end of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction generates a rotational torque in a counterclockwise direction relative to the vertical centerline of the amphibious robot, which is used to complete the underwater leftward translational movement.

8. The amphibious robot according to claim 3, characterized in that, When the amphibious robot is in an underwater surfacing working posture, the shaft of the first propeller device rotates to the direction of extension of the horizontal section facing the right rear of the amphibious robot, the shaft of the second propeller device rotates to the direction of extension of the horizontal section facing the left rear of the amphibious robot, the shaft of the third propeller device rotates to the direction of extension of the horizontal section facing the right front of the amphibious robot, and the shaft of the fourth propeller device rotates to the direction of extension of the horizontal section facing the left front of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down view, the resultant force of the thrust in the vertical direction is greater than the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is zero.

9. The amphibious robot according to claim 3, characterized in that, When the amphibious robot is in an underwater diving working posture, the shaft of the first propeller device rotates to the direction of extension of the horizontal section facing the right rear of the amphibious robot, the shaft of the second propeller device rotates to the direction of extension of the horizontal section facing the left rear of the amphibious robot, the shaft of the third propeller device rotates to the direction of extension of the horizontal section facing the right front of the amphibious robot, and the shaft of the fourth propeller device rotates to the direction of extension of the horizontal section facing the left front of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is less than the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction is zero.

10. The amphibious robot according to claim 3, characterized in that, When the amphibious robot turns into a working posture underwater, the shaft of the first propeller device rotates to the direction of extension of the horizontal section facing the rear end of the amphibious robot, the shaft of the second propeller device rotates to the direction of extension of the horizontal section facing the left end of the amphibious robot, the shaft of the third propeller device rotates to the direction of extension of the horizontal section facing the right end of the amphibious robot, and the shaft of the fourth propeller device rotates to the direction of extension of the horizontal section facing the front end of the amphibious robot. The propellers of the first, second, third, and fourth propeller devices rotate to generate thrust along the axis of their respective motors. From a top-down perspective, the resultant force of the thrust in the vertical direction is equal to the weight of the amphibious robot, and the resultant force of the thrust in the horizontal direction generates a rotational torque in a counterclockwise direction relative to the vertical centerline of the amphibious robot, which is used to complete underwater turning maneuvers.

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