CN109455050B - Air-water robot and cooperative control system thereof - Google Patents
Air-water robot and cooperative control system thereof Download PDFInfo
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- CN109455050B CN109455050B CN201811230818.7A CN201811230818A CN109455050B CN 109455050 B CN109455050 B CN 109455050B CN 201811230818 A CN201811230818 A CN 201811230818A CN 109455050 B CN109455050 B CN 109455050B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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Abstract
The invention relates to the technical field of robots, in particular to a land, water and air robot, wherein two wings are respectively arranged on the left side and the right side of a shell, two driving wheels are arranged in front of the bottom surface of the shell, a driven wheel is arranged behind the bottom surface of the shell, a power fan is arranged at the tail part of the shell, a power system is arranged in the shell, and the tail end of the power output of the power system is connected with the power fan or the two wheels in front of the bottom surface of the shell in a switchable manner; the power system comprises a power motor, a bottom plate, a sliding table and a power switching electric cylinder, wherein the sliding table is arranged on the bottom plate in a back-and-forth moving mode, and the driving end of the power switching electric pole is connected with the sliding table and can drive the sliding table to slide back and forth; the power motor is fixedly installed on the sliding table and is a double-output-end motor, and the power motor comprises a first power output rod and a second power output rod. The amphibious robot can switch the driving modes of the amphibious robot in different states and can switch the moving direction of the robot through the clutch device.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a triphibian robot.
Background
Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is researching and developing in the direction.
The robot frequently works in a cross way in three land sections of water, land and air, and the research on the triphibian robot is not mature, so that the invention of the triphibian robot for water, land and air is necessary.
Disclosure of Invention
To solve the above problems, the present invention provides an amphibious robot that can switch triphibious movement states by a simple driving mechanism. In addition, the invention also provides a collaboration system for controlling the automatic switching of the mobile state.
In order to achieve the purpose, the invention adopts the technical scheme that:
an amphibious robot comprises a shell, a power fan, two wings, a driving force, a driven wheel and a power system, wherein the front end of the shell is wedge-shaped, the two wings are respectively arranged on the left side and the right side of the shell, two driving wheels are arranged in front of the bottom surface of the shell, the driven wheel is arranged behind the bottom surface of the shell, the power fan is arranged at the tail part of the shell, the power system is arranged in the shell, and the tail end of the power output of the power system is connected with the power fan or the two wheels in front of the bottom surface of the shell in a switchable manner;
the power system comprises a power motor, a bottom plate, a sliding table and a power switching electric cylinder, wherein the sliding table is arranged on the bottom plate in a back-and-forth moving mode, and the power switching electric pole driving end is connected with the sliding table and can drive the sliding table to slide back and forth; the power motor is fixedly arranged on the sliding table, the power motor is a double-output-end motor, the power motor comprises a first power output rod and a second power output rod, and the first power output rod is linked with the driving wheel in a first state; and in the second state, the second power output rod is linked with the power fan.
Preferably, the power system further comprises a front shaft connected with the two driving wheels and a linkage system connected with the power fan, wherein a front shaft gear is arranged on the front shaft, a power output end of the linkage system is a power output gear, a first power gear is arranged on the first power output rod, and a second power gear is arranged on the second power output rod; when in the first state, the front shaft gear is meshed with the first power gear; in the second state, the power output gear and the second power gear are engaged.
Preferably, the number of the power fans is two, the linkage system comprises a first transmission gear, a transmission shaft, a second transmission gear, a rear driving shaft, a third transmission gear, a fourth transmission gear and a power output shaft, the power output gear is arranged at the first end of the transmission shaft, the first transmission gear is arranged at the second end of the transmission shaft, the second transmission gear is arranged at the middle position of the rear driving shaft, the two ends of the rear driving shaft are respectively in power connection with the third transmission gear, the fourth transmission gear is arranged at the first end of the power output shaft, the second end of the power output shaft is connected with the power fans, and the third transmission gear is meshed with the fourth transmission gear.
Preferably, there are two power fans, and the linkage system includes a differential system, and the differential system controls the power connection state of the power motor and the two power fans, so that the two power fans form a rotation speed difference.
Preferably, the differential system comprises two sets, each power fan is in power connection with one set of differential system, the differential system comprises a top plate, a coupling shaft, a sleeve, a spring, an outer clutch plate and an inner clutch plate, the power system further comprises a micro-motion device, the inner clutch plates are respectively installed at two ends of the rear driving shaft, the top plate is fixedly arranged, the first end of the top plate coupling shaft is rotatably installed in the top plate, the second end of the rear driving shaft is fixedly connected with the outer wall of the outer clutch plate, the third driving gear is installed on the coupling shaft, the sleeve is sleeved outside the third driving gear, the spring is sleeved outside the sleeve, two ends of the spring are respectively abutted against the inner wall of the top plate and the inner wall of the outer clutch plate, and the sleeve and the spring are matched to limit the compression force of the outer clutch plate and the inner clutch plate; the power end of the micro-motion device is connected with the rear driving shaft, and the micro-motion device can push the rear driving shaft to axially micro-move.
Preferably, the transmission shafts are all provided with universal joints.
Preferably, a universal joint is arranged on the rear driving shaft.
Preferably, the micro-motion device is a micro-motion motor capable of switching three position states
In addition, the present invention also provides a cooperative control system for controlling the above-mentioned amphibious robot, the cooperative control system comprising:
the control unit is in signal connection with the power motor, the power switching electric cylinder and the micro-motion device;
the GPRS module is in signal connection with the control unit and is used for detecting the position state and the height state of the water, land and air robot;
the three-axis sensor is in signal connection with the control unit and is used for detecting the moving inclination angle state of the water, land and air robot;
the vision module is in signal connection with the control unit and is used for detecting the type of a front landing surface of the water, land and air robot;
the control unit is in signal connection with the power switching electric cylinder, the micro-motion device and the power motor and controls the working states of the power switching electric cylinder, the micro-motion device and the power motor.
Preferably, the cooperative control system further comprises a communication module and a storage module, wherein the communication module is in signal connection with the control unit, and the communication module is used for being in signal connection with an external console; the storage module is used for recording the flight state and the working state of the water, land and air robot.
The invention has the beneficial effects that:
the amphibious robot can switch the driving modes of the amphibious robot in different states and can switch the moving direction of the robot through the clutch device.
In addition, the robot can realize the switching of the power state in an active mode and a passive mode through a cooperative control system.
Drawings
Fig. 1 is an external structure schematic diagram of the amphibious robot.
FIG. 2 is a schematic diagram of a power system of the amphibious robot.
Fig. 3 is a schematic diagram of a power system of the amphibious robot in another state.
Fig. 4 is a schematic diagram of the land, water and air robot steering system.
Fig. 5 is a module connection schematic diagram of a cooperative control system of the land, water and air robot.
Fig. 6 shows the landing position monitoring state of the land, water and air robot.
Fig. 7 shows the landing position monitoring state of the land, water and air robot at another angle.
The reference numerals include:
100-shell, 110-wing, 120-support frame, 121-wheel, 130-power fan, 140-perspective window, 200-power motor, 210-first power output rod, 211-first power gear, 220-second power output rod, 221-second power gear, 230-power output gear, 240-front shaft, 241-front shaft gear, 250-bottom plate, 260-sliding table, 270-power switching electric cylinder, 271-connecting rod, 310-first transmission gear, 320-transmission shaft, 321-universal joint, 330-second transmission gear, 331-rear driving shaft, 332-inner clutch plate, 341-top plate, 342-linkage shaft, 343-sleeve, 344-spring, 345-third transmission gear, 346-outer clutch plate, 351-fourth transmission gear, 352-power output shaft, 361-micromotion motor, 362-push rod, 410-control unit, 420-GPRS module, 430-three-axis sensor, 440-vision module, 480-storage module and 490-communication module.
Detailed Description
The present invention is described in detail below with reference to the attached drawings.
As shown in fig. 1-7, the embodiment provides an amphibious robot, which includes a housing 100, a power fan 130, two wings 110, driving wheels, driven wheels, and a power system, wherein the front end of the housing 100 is wedge-shaped, the two wings 110 are respectively disposed on the left and right sides of the housing 100, the two driving wheels are disposed in front of the bottom surface of the housing 100, the driven wheel is disposed behind the bottom surface of the housing 100, the power fan 130 is disposed at the tail of the housing 100, the power system is disposed inside the housing 100, and the power output end of the power system is switchably connected to the power fan 130 or the two wheels 121 in front of the bottom surface of the housing 100; the power system comprises a power motor 200, a bottom plate 250, a sliding table 260 and a power switching electric cylinder 270, wherein the sliding table 260 can be arranged on the bottom plate 250 in a front-back movement mode, and the driving end of a power switching electric pole is connected with the sliding table 260 and can drive the sliding table 260 to slide back and forth; the power motor 200 is fixedly arranged on the sliding table 260, the power motor 200 is a double-output-end motor, the power motor 200 comprises a first power output rod 210 and a second power output rod 220, and in a first state, the first power output rod 210 is linked with the driving wheel; in the second state, the second power take-off lever 220 is interlocked with the power fan 130.
In the present embodiment, as shown in fig. 1, the front end of the casing 100 is wedge-shaped and streamlined, and has better aerodynamic characteristics. The left side and the right side of the shell 100 are respectively provided with the wings 110, the wings 110 accord with the design characteristics of a glider, the bottom of the shell 100 is composed of three support frames 120, wherein the front part is provided with two support frames 120, the rear part is provided with one support frame 120, the bottom of the support frame 120 is provided with wheels 121, the front two wheels 121 are driving wheels, the rear wheels 121 are driven wheels, and each wheel 121 is connected with the shell 100 through a damping cylinder which is designed independently. The power fan 130 is arranged at the tail part of the shell 100 and is used as a driving device in a waterway and a flight state, the front end of the shell 100 is provided with a perspective window 140, and the perspective window 140 is provided with an image acquisition module in the vision module 440.
In this embodiment, the power system further includes a front shaft 240 connected to the two driving wheels and a linkage system connected to the power fan 130, the front shaft 240 is provided with a front shaft gear 241, the power output end of the linkage system is a power output gear 230, the first power output rod 210 is provided with a first power gear 211, and the second power output rod 220 is provided with a second power gear 221; in the first state, the front shaft gear 241 and the first power gear 211 are engaged; in the second state, the power output gear 230 and the second power gear 221 are engaged.
As shown in fig. 2, the front axle 240 in this embodiment connects the two front wheels 121, and the front axle 240 is sleeved with a front axle gear 241. The power output gear 230 is in power connection with the power fan 130. As shown in fig. 2, fig. 2 shows a second state of the robot, which is a power connection state between the marine movement mode and the flying movement mode, that is, the power switching electric cylinder 270 is in an extended state, at this time, the power motor 200 outputs power through the second power output rod 220, and the second power gear 221 on the second power output rod 220 is in tooth engagement with the power output gear 230, so as to drive the power fan 130 to rotate.
As shown in fig. 3, the state in fig. 3 is a first state, which is a land movement state, and the power switching electric cylinder 270 pulls the sliding table 260 back from one end to the other end of the base plate 250 through the connecting rod 271, so that the transmission of the power motor 200 and the power fan 130 is disconnected, and the output power of the power motor 200 is transmitted to the wheels 121. In this state, the first power gear 211 on the first power take-off lever 210 of the power motor 200 is engaged with the front axle gear 241 on the front axle 240.
As shown in fig. 4, there are two power fans 130, the linkage system includes a first transmission gear 310, a transmission shaft 320, a second transmission gear 330, a rear driving shaft 331, a third transmission gear 345, a fourth transmission gear 351 and a power output shaft 352, the power output gear 230 is disposed at a first end of the transmission shaft 320, the first transmission gear 310 is disposed at a second end of the transmission shaft 320, the second transmission gear 330 is disposed at a middle position of the rear driving shaft 331, two ends of the rear driving shaft 331 are respectively power-connected to the third transmission gear 345, the fourth transmission gear 351 is mounted at a first end of the power output shaft 352, a second end of the power output shaft 352 is connected to the power fan 130, and the third transmission gear 345 is meshed with the fourth transmission gear 351.
In this embodiment, there are two power fans 130, and the linkage system includes a differential system that controls the power connection state of the power motor 200 and the two power fans 130, so that the two power fans 130 form a rotation speed difference.
The differential system comprises two sets, each power fan 130 is in power connection with one set of differential system, the differential system comprises a top plate 341, a coupling shaft 342, a sleeve 343, a spring 344, an outer clutch plate 346 and an inner clutch plate 332, the power system further comprises a micro-motion device, the inner clutch plates 332 are respectively installed at two ends of a rear driving shaft 331, the top plate 341 is fixedly arranged, a first end of the coupling shaft 342 of the top plate 341 is rotatably installed in the top plate 341, a second end of the rear driving shaft 331 is fixedly connected with the outer wall of the outer clutch plate 346, a third transmission gear 345 is installed on the coupling shaft 342, the sleeve 343 is sleeved outside the third transmission gear 345, the spring 344 is sleeved outside the sleeve 343, two ends of the spring 344 are respectively abutted against the inner wall of the top plate 341 and the inner wall of the outer clutch plate 346, and the sleeve 343 and the spring 344 are matched to limit; the power end of the micro-motion device is connected with the rear driving shaft 331, and the micro-motion device can push the rear driving shaft 331 to perform axial micro-motion.
Specifically, the power output gear 230 transmits power to the first transmission gear 310 through the transmission shaft 320, then the first transmission gear 310 is meshed with the second transmission gear 330, and the second transmission gear 330 transmits power to the inner clutch plate 332 through the rear driving shaft 331 and drives the inner clutch plate 332 to rotate. Under a normal state, the inner clutch plate 332 and the outer clutch plate 346 have the same angular velocity, so that the outer clutch plate 346 drives the coupling shaft 342 to rotate, the third transmission gear 345 on the coupling shaft 342 drives the fourth transmission gear 351 to rotate, and finally the fourth transmission gear 351 drives the power fan 130 to rotate through the power output shaft 352. In this state, the rotation speeds of the two power fans 130 are the same, and the robot can move linearly.
When the robot needs to turn in the second state, the micro motor 361 drives the push rod 362 to move, for example, when the robot needs to turn to the right side, the micro motor 361 drives the push rod 362 to retract, at this time, the left inner clutch plate 332 and the left outer clutch plate 346 still have the same angular velocity, the mutual pressing force of the right inner clutch plate 332 and the right outer clutch plate 346 is small, so that the right inner clutch plate 332 and the right outer clutch plate 346 form an angular velocity difference, and further, the rotating speed of the left power fan 130 is greater than the forwarding of the right power fan 130, and finally, the robot is pushed to turn to the right side.
The principle of turning left and turning right of the robot is the same, and the description is omitted.
It will be appreciated that the spring 344 acts to provide a compressive force such that the inner and outer clutch discs 332, 346 maintain the same angular velocity and the sleeve 343 acts to keep the spring 344 from interfering with the engagement of the third and fourth drive gears 345, 351. To facilitate retraction of spring 344, sleeve 343 has a length less than the spacing between top plate 341 and outer clutch discs 346.
The inching device is a inching motor 361 capable of switching three position states. The micro motor 361 has three states, namely, when the robot travels straight, the push rod 362 is in the middle, and when the robot turns, the push rod 362 is in the translation position at the left and right sides of the middle.
Drive shafts 320 each have a universal joint 321 thereon. Universal joint 321 is provided on rear drive shaft 331. When the robot turns, the rear drive shaft 331 moves left and right, and the problem of the gear engagement angle is solved by the arrangement of the universal joint 321.
In the present embodiment, a universal joint 321 is provided between the power output gear 230 and the first transmission gear 310. A universal joint (not shown) is arranged between the second transmission gear 330 and the left and right inner clutch plates 332.
As shown in fig. 5, in addition, the present embodiment also proposes a cooperative control system for controlling the above-mentioned amphibious robot, the cooperative control system including:
a control unit 410 which is in signal connection with the power motor 200, the power switching cylinder 270 and the micro-motion device;
a GPRS module 420 in signal connection with the control unit 410, the GPRS module 420 being used for detecting the position state and the height state of the water, land and air robot;
a three-axis sensor 430 in signal connection with the control unit 410, the three-axis sensor 430 being used for detecting a movement inclination angle state of the water, land and air robot;
a vision module 440 in signal connection with the control unit 410, the vision module 440 being configured to detect a type of a landing surface in front of the amphibious air-ground robot;
the control unit 410 is in signal connection with the power switching electric cylinder 270, the micro-motion device and the power motor 200, and controls the working states of the power switching electric cylinder 270, the micro-motion device and the power motor 200.
The cooperative control system further comprises a communication module 490 in signal connection with the control unit 410 and a storage module 480, wherein the communication module 490 is used for signal connection with an external console; the storage module 480 is used for recording the flight state and the working state of the amphibious robot.
Specifically, when the robot is switched from the flight state to the land or water movement state, the below state needs to be captured by the vision module 440 to determine whether the below state is land or water. As shown in FIG. 6, the angle at which the region of the image is available to the vision module 440 is smaller in the lower A1 state and larger in the A2 state. Measurement of the flying height of the robot is accomplished by positioning through GPRS module 420 and setting of a virtual coordinatometer in vision module 440.
The vision module 440 acquires the active image area when the control unit 410 detects that the robot flight altitude is below a threshold. As shown in fig. 7, there is an effective image area obtained by the vision module 440 within a circular range, where B2 is the water surface and B1 is the land, the vision module 440 determines whether the area is the water surface or the land through an image formed by horizontal wave reflection, and when the area of the water surface is greater than 70% of the effective image area, the tray bottom lands on the water surface, and the robot remains in the second state. When it is determined that the area of the water surface is less than or equal to 70% of the effective image area, the control unit 410 drives the power switching motor to switch the power state, i.e., the robot transitions to the first state.
The triaxial sensor 430 sensors function to determine the inclination angle of the robot to determine the state of the robot in the flying state, a turning state, a take-off and landing state, and the like can be detected.
When the robot takes off from the water surface and the land, the output power of the power motor 200 is increased, and the robot takes off through the lifting force generated by the wings 110. When the robot falls, the control unit 410 controls the power motor 200 to reduce the output power, so that the robot glides and falls. The three-axis sensor 430 monitors the tilt angle state of the robot at all times during this process.
The communication module 490 may enable an operator to remotely control the robot, operate the robot movement, lift in flight, turn the robot, and so forth.
The storage module 480 may be considered as a black box, or may be implemented with a control program and a decision program and algorithm of the vision module 440.
The robot can realize multiple functions of image shooting, wireless remote sensing, data acquisition and the like by wearing a camera and a sensor. The robot can complete specific functions through combination with other devices.
The foregoing is only a preferred embodiment of the present invention, and many variations in the detailed description and the application range can be made by those skilled in the art without departing from the spirit of the present invention, and all changes that fall within the protective scope of the invention are therefore considered to be within the scope of the invention.
Claims (6)
1. An air-water robot, characterized in that: the power fan is arranged at the tail of the shell, the power system is arranged in the shell, and the power output tail end of the power system is connected with the power fan or the two driving wheels in front of the bottom surface of the shell in a switchable manner;
the power system comprises a power motor, a bottom plate, a sliding table and a power switching electric cylinder, wherein the sliding table is arranged on the bottom plate in a back-and-forth moving mode, and a driving end of the power switching electric cylinder is connected with the sliding table and can drive the sliding table to slide back and forth; the power motor is fixedly arranged on the sliding table, the power motor is a double-output-end motor, the power motor comprises a first power output rod and a second power output rod, and the first power output rod is linked with the driving wheel in a first state; when the fan is in a second state, the second power output rod is linked with the power fan;
the power system also comprises a front shaft connected with the two driving wheels and a linkage system connected with the power fan, wherein a front shaft gear is arranged on the front shaft, a power input end of the linkage system is a power output gear, a first power gear is arranged on the first power output rod, and a second power gear is arranged on the second power output rod; when in the first state, the front shaft gear is meshed with the first power gear; when in the second state, the power output gear is meshed with the second power gear;
the linkage system comprises a first transmission gear, a transmission shaft, a second transmission gear, a rear driving shaft, a third transmission gear, a fourth transmission gear and a power output shaft, wherein the power output gear is arranged at the first end of the transmission shaft, the first transmission gear is arranged at the second end of the transmission shaft, the second transmission gear is arranged at the middle position of the rear driving shaft, two ends of the rear driving shaft are respectively in power connection with the third transmission gear, the fourth transmission gear is arranged at the first end of the power output shaft, the second end of the power output shaft is connected with the power fan, and the third transmission gear is meshed with the fourth transmission gear;
the linkage system comprises a differential system, and the differential system controls the power connection state of a power motor and two power fans to enable the two power fans to form a rotation speed difference;
the differential system comprises two sets, each power fan is in power connection with one set of differential system, the differential system comprises a top plate, a coupling shaft, a sleeve, a spring, an outer clutch plate and an inner clutch plate, the power system further comprises a micro-motion device, the inner clutch plates are respectively installed at two ends of the rear driving shaft, the top plate is fixedly arranged, the first end of the coupling shaft is rotatably installed in the top plate, the second end of the coupling shaft is fixedly connected with the outer wall of the outer clutch plate, the third transmission gear is installed on the coupling shaft, the sleeve is sleeved outside the third transmission gear, the spring is sleeved outside the sleeve, two ends of the spring are respectively abutted against the inner wall of the top plate and the inner wall of the outer clutch plate, and the sleeve and the spring are matched to limit the pressing force of the outer clutch plate and the inner clutch plate; the power end of the micro-motion device is connected with the rear driving shaft, and the micro-motion device can push the rear driving shaft to axially micro-move.
2. The amphibious robot of claim 1, wherein: the transmission shafts are all provided with universal joints.
3. The amphibious robot of claim 1, wherein: and the rear driving shaft is provided with a universal joint.
4. The amphibious robot of claim 1, wherein: the micro-motion device is a micro-motion motor capable of switching three position states.
5. Cooperative control system for controlling a hydro-pneumatic robot according to any of claims 1-4, characterized in that the cooperative control system comprises:
the control unit is in signal connection with the power motor, the power switching electric cylinder and the micro-motion device;
the GPRS module is in signal connection with the control unit and is used for detecting the position state and the height state of the water, land and air robot;
the three-axis sensor is in signal connection with the control unit and is used for detecting the moving inclination angle state of the water, land and air robot;
the vision module is in signal connection with the control unit and is used for detecting the type of a front landing surface of the water, land and air robot;
the control unit is in signal connection with the power switching electric cylinder, the micro-motion device and the power motor and controls the working states of the power switching electric cylinder, the micro-motion device and the power motor.
6. The cooperative control system according to claim 5, characterized in that: the cooperative control system also comprises a communication module and a storage module, wherein the communication module is used for being in signal connection with an external console; the storage module is used for recording the flight state and the working state of the water, land and air robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230818.7A CN109455050B (en) | 2018-10-22 | 2018-10-22 | Air-water robot and cooperative control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230818.7A CN109455050B (en) | 2018-10-22 | 2018-10-22 | Air-water robot and cooperative control system thereof |
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| Publication Number | Publication Date |
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| CN109455050A CN109455050A (en) | 2019-03-12 |
| CN109455050B true CN109455050B (en) | 2021-06-18 |
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| CN201811230818.7A Expired - Fee Related CN109455050B (en) | 2018-10-22 | 2018-10-22 | Air-water robot and cooperative control system thereof |
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| CN110033557A (en) * | 2019-05-05 | 2019-07-19 | 东莞市势为物联网科技有限公司 | A kind of picking mould group |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6202710B2 (en) * | 2012-11-30 | 2017-09-27 | 三菱重工業株式会社 | Amphibious vehicle and control method of amphibious vehicle |
| CN105916719B (en) * | 2013-12-18 | 2018-11-09 | 吉凯恩汽车有限公司 | The balancing unit of motor vehicle and method for controlling the balancing unit |
| CN105398298B (en) * | 2015-12-30 | 2018-04-10 | 佛山市神风航空科技有限公司 | Use the vehicles in a kind of land, water and air three |
| CN207213047U (en) * | 2017-07-31 | 2018-04-10 | 傅峰峰 | A kind of changeable transmission mechanism used |
| CN108501636A (en) * | 2018-05-30 | 2018-09-07 | 佛山市神风航空科技有限公司 | A kind of amphibious aircraft |
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