The invention discloses an amphibious deformable wheel
paddle based on
wireless energy transmission and a control method thereof, and relates to the technical field of wheel paddles, the amphibious deformable wheel
paddle comprises a wheel body module, a
wireless power supply module and a driving module, the wheel body module realizes wheel
diameter extension and retraction through a slider-
crank mechanism, and two states of the minimum wheel
diameter and the maximum wheel
diameter can be switched; the
wireless power supply module stably outputs 5V / 1000mA
voltage at the interval of 10mm based on the magnetic
resonance coupling principle to
supply energy to an embedded part, so that cable winding is avoided; a direct-current brushless motor in the driving module achieves rotation of a wheel body (the maximum linear speed of the water surface is larger than or equal to 2.17 m / s, and the single-wheel thrust is larger than or equal to 6N), and a
metal gear digital steering engine drives the wheel body to deform. According to the control method, through state judgment,
deformation control,
motion control and
energy supply guarantee, multi-scene self-
adaptive switching is achieved, the maximum
obstacle crossing height is larger than or equal to 60 mm, and the needed driving force is smaller than or equal to 0.584 G. The mechanism is compact in structure, efficient in switching, high in reliability and suitable for the fields of amphibious robots, special operation equipment and the like.