CN117533066A

CN117533066A - Externally hung amphibious multi-mode operation robot as required

Info

Publication number: CN117533066A
Application number: CN202311729434.0A
Authority: CN
Inventors: 韦岗; 曹燕; 王一歌; 凌丽娟; 苏瑞彩
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2023-12-15
Filing date: 2023-12-15
Publication date: 2024-02-09

Abstract

The invention discloses an on-demand plug-in amphibious multi-mode operation robot which has multiple motion modes and can be used for multi-mode operation such as image, sound and electricity information acquisition, data feedback, target perception, physical picking and sampling and the like. The working robot comprises a machine body, a bracket, a rotor wing, a motor, a main control device and an externally-hung accessory; the annular radial externally-hung type is adopted, so that different accessories can be externally hung according to different geographic environments and operation requirements. The externally hung accessory can be selected from a linear motor, a power module, a pontoon with a propeller, a manipulator, a mechanical foot, a mechanical wheel, a floating foam plate and the like. The operation robot disclosed by the invention is low in energy consumption, wide in applicability, strong in expandability and high in safety.

Description

Externally hung amphibious multi-mode operation robot as required

Technical Field

The invention relates to the field of amphibious operation robots, in particular to an on-demand plug-in amphibious multi-mode operation robot.

Background

The agriculture of China is rapidly developed in recent years, but the speed, the scale and the benefit are very different from the modern agriculture of the world. Agricultural mechanization and equipment digitization are important in agricultural modernization, and along with urban development, agricultural population is greatly reduced, if advanced intelligent agricultural equipment can be used for replacing manual labor, and intelligent robots are adopted for mechanical operation or intelligent monitoring in all links before, during and after labor, the labor intensity can be reduced, the labor efficiency can be improved, and the agricultural development can be greatly promoted.

For example, in the planting and culturing process, agricultural and fishery operators need to track and judge whether seeding, weeding, harvesting, feeding, catching and the like are needed, so that the repeatability is high, and the time and the labor are quite consumed. Besides the tasks, the intelligent operation robot can track, monitor and analyze the environment by using the data obtained by the sensors, assist and even help practitioners to complete each task, greatly lighten the workload and get rid of repetitive labor.

The conditions of agricultural production in different areas and different areas in China are greatly different, and therefore, higher requirements are provided for the development of the intelligent agricultural robot. For example, in the southern areas of China, plain, basins and hills are staggered, the rivers and lakes in the plain are numerous, water networks are vertical and horizontal, most vegetation in the hills and mountains is numerous, and green onion is depressed, so that the intelligent agricultural planting and aquaculture can be realized only by using a multi-dwelling operation robot for such complicated topography.

At present, most amphibious operation robots are amphibious robots developed on the basis of four-rotor platforms or fixed-wing airplanes, the robot is large in size, complex in structure and low in adaptability to complex environments, and due to limiting factors such as existing structures and technologies, the amphibious operation robots are single in function and can only finish operation under certain environments and working conditions.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides an externally hung amphibious and aeronautical multi-mode operation robot as required, which can realize amphibious and aeronautical multi-mode operation and is multipurpose.

The aim of the invention can be achieved by adopting the following technical scheme:

an on-demand plug-in amphibious multi-mode work robot comprising: the device comprises a machine body, a bracket, a rotor, an externally-hung accessory, a motor and a main control device;

the machine body is annular, and a through duct is arranged in the middle of the machine body;

the bracket comprises an inner bracket and an accessory bracket; the internal support is arranged in the duct and used for fixing the rotor wing, the motor and the main control device; the accessory bracket is fixed on the outer side of the machine body, expands outwards in the radial direction and is used for carrying the externally hung accessory;

the externally hung accessory is carried on the accessory bracket or hung on the circular ring at the bottom of the machine body.

Preferably, the rotor comprises two separate rotors symmetrically mounted on both sides of the internal support for adjusting the vertical lift and horizontal flight direction of the fuselage.

Preferably, the rotor comprises a coaxial twin rotor.

Preferably, the plug-in fitting comprises: the device comprises a power module, a linear motor, a pontoon with a propeller, a manipulator, a mechanical foot, a mechanical wheel, a floating foam plate, a camera, a sensor and a storage box.

Preferably, the linear motor adjusts the posture of the body by driving a weight or driving other external fittings, wherein the weight is a weight which is added independently.

Preferably, the manipulator is used for physical sampling operation of the on-demand plug-in amphibious multi-mode operation robot;

the mechanical foot and the mechanical wheel are used for the on-demand plug-in amphibious multi-mode operation robot to travel on land in different operation environments;

the floating foam plate is used for providing water surface buoyancy for the on-demand plug-in amphibious multi-mode operation robot when operating on the water surface;

the camera and the sensor are used for collecting images and acoustic signals;

the storage box is used for storing chemical reagents used by the on-demand externally hung amphibious multi-mode operation robot during operation or picked objects.

Preferably, the propeller is arranged in the pontoon with the propeller, and the propeller is used for providing sailing thrust and buoyancy in water for the on-demand plug-in amphibious and air multi-mode operation robot when operating on the water surface.

Preferably, the main control device comprises a motion mode unit, a working mode unit, a motion gesture unit and a working control unit;

the motion mode unit is used for controlling the motion mode of the on-demand plug-in amphibious multi-mode operation robot and switching of the motion mode;

the operation mode unit is used for controlling the operation mode of the on-demand plug-in amphibious multi-mode operation robot and the switching of the operation mode;

the motion attitude unit is used for controlling the motion attitude of the on-demand plug-in amphibious multi-mode operation robot;

the operation control unit is used for controlling the operation implementation of the on-demand plug-in amphibious multi-mode operation robot and outputting the operation implementation result.

Preferably, the sport mode includes an air mode, a water surface mode and a land mode;

the aerial mode refers to a mode of flying or hovering in the air; the main control device controls the rotating speed and the steering of the rotor wing by adjusting the rotating speed and the steering of the motor so that the machine body vertically ascends and descends; the main control device adjusts the horizontal flight direction of the fuselage by controlling the rotation speed difference of the rotor; the main control device adjusts the air posture of the machine body by controlling the linear motor to drive the position of the weight;

the water surface mode refers to a mode of sailing or floating on the water surface; the main control device controls the direction of the body sailing on the water surface by adjusting the rotating speed and the steering direction of the propeller, and adjusts the water surface posture of the body by controlling the linear motor to drive the position of the weight;

the land mode refers to a mode of traveling on land; the main control device adjusts the action route and the inclination angle of the machine body on land by adjusting the mechanical feet or the mechanical wheels and controlling the linear motor to drive the position of the weight.

Compared with the prior art, the invention has the following advantages:

(1) The on-demand plug-in amphibious multi-mode operation robot disclosed by the invention can perform amphibious motions in the air, the water surface and the land, can rapidly reach an operation ground by adopting flight, underwater navigation, land wheel movement and the like, and is also suitable for various operations in the scenes of hovering in the air, floating on the water surface, walking on the land and the like.

(2) According to the invention, the multi-mode movement is carried out through the externally hung accessory, so that multi-dwelling operation and multi-mode operation can be realized in one task. The robot integrates air, water surface and land operation, has multiple functions, and widens the applicability of a single-function robot. The method can acquire images and acoustic-electric signals to perform target perception, and can acquire the information data for feedback analysis; the method can be used for spot physical sampling in agricultural areas, random picking and carrying out the operations of fertilizer application, pesticide spraying and other replenishment.

(3) The invention adopts annular radial external hanging, and can externally hang different accessories according to different geographical environments and operation requirements to finish the operation requirements. The function expansion is realized by means of the plug-in fittings, so that the invention has strong expansibility and applicability.

(4) According to the gesture control method of the on-demand plug-in amphibious multi-mode operation robot, the linear motor of plug-in accessories, the necessary power supply module, other operation modules and the like can be adopted for center-of-gravity adjustment, weight is reduced, energy consumption is reduced, and therefore endurance time can be prolonged. The pontoon with the propeller in the externally-hung accessory provides buoyancy for water surface navigation or operation, so that the energy consumption can be reduced, and the endurance time can be prolonged.

(5) According to the on-demand externally-hung amphibious multi-mode operation robot, the rotor wing is arranged in the annular body, the water surface screw propeller is arranged in the pontoon, the operation environment is not easy to damage, and the safety of operators and the operation robot is improved.

Drawings

FIG. 1 is a side view of a schematic outline of an on-demand plug-in amphibious multi-mode work robot;

figure 2 is a perspective view of a schematic outline of an on-demand plug-in amphibious multi-mode operation robot;

FIG. 3 is an exemplary schematic diagram of an on-demand plug-in accessory for an amphibious multimode work robot;

FIG. 4 is a schematic diagram of the linear motor driving weight for attitude adjustment in the present invention;

FIG. 5 is a schematic illustration of an example of a plug-in fitting plug-in to a work robot body;

FIG. 6 is a functional block diagram of a master device of the present invention;

fig. 7 is a schematic flow chart of completing one operation in the fish shoal detection operation scene.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The following describes the embodiments of the present invention further with reference to the drawings.

As shown in fig. 1, which is a side view, the plug-in fitting is a separate module, shown unconnected. Fig. 2 shows a perspective view, with the plug-in fitting additionally shown.

It can be seen from fig. 1 that the robot comprises a body 1, a bracket 2, a rotor 3, a motor 4, a main control device 5 and an external fitting 6.

The robot body 1 adopts a ring-shaped pattern, and a through duct is arranged in the middle. The rotor wing 3 is arranged on the bracket 2 in the duct, is protected by the annular body, is not easily damaged by the external environment, and has high safety; the motor 4 and the main control device 5 are also arranged in the machine body 1 for fixation. The externally hung accessory 6 is externally hung on the accessory bracket 202 outside the machine body 1 or hung on the circular ring at the bottom of the machine body 1 according to the requirement, so that the operation is convenient.

The bracket 2 includes an inner bracket 201 and an accessory bracket 202. The internal support 201 is arranged in the duct and is used for fixing the rotor 3, the motor 4 and the main control device 5. The fitting bracket 202 is symmetrically fixed to the outside of the body 1, and extends to the outside for mounting the external fitting 6. The fitting support 202 may be regarded as an outer radial extension of the inner support 201.

Rotor 3, in this embodiment, is a single coaxial twin rotor, upper rotor 301 and lower rotor 302, disposed in a duct. Different lifting force and sinking force are generated in the direction vertical to the ground by controlling the steering and rotating speed of the upper rotor wing and the lower rotor wing, so that the upper rotor wing and the lower rotor wing can vertically lift; the rotation speed difference of the upper rotor wing and the lower rotor wing is controlled to adjust the horizontal flight direction so as to turn and twist.

The motor 4 controls the rotation of the rotor 3 and drives the moving fittings in the plug-in fittings 6 to implement a certain movement. The motion accessories can be pontoons with propellers, mechanical arms, mechanical feet, mechanical wheels and the like.

External accessories 6, including but not limited to power modules, linear motors, pontoons with propellers, manipulators, mechanical feet, mechanical wheels, floating foam boards, cameras, various sensors, storage boxes, and the like. Part of the externally-hung accessories are functional modules required by the robot, such as a linear motor and a power module; some are modules required for the operation, such as buoys with propellers, manipulators, mechanical feet, mechanical wheels, floating foam boards, cameras, sensors and storage tanks.

Figure 3 shows a schematic view of certain plug-in fittings of an on-demand plug-in amphibious multimode work robot.

The power module 601 of the plug-in accessory provides energy for each motor, camera, sensor and the like.

The linear motor 602 of the plug-in accessory drives the weight block to adjust the posture.

The robotic arm 603 of the plug-in fitting is used for physical sampling operations. Such as picking fruits on trees, picking tea leaves between the ground, cotton, etc.

The machine foot 604 and the machine wheels 605, 606, 607 of the plug-in fitting are used for land walking in different working environments. The mechanical wheels or the mechanical feet are selected according to different road conditions of the land. If the ground is flat, a mechanical wheel can be used, so that the speed is high; if the ground is rugged, the robot can walk as fast as a multi-legged robot by using mechanical legs. Three different mechanical wheels 605, 606, 607 are illustrated here, 605 being single wheel, 606 being double wheel, 607 being crawler type wheels for different speed, different working conditions.

The floating foam deck 608 of the plug-in fitting is used to provide the surface buoyancy of the work robot during surface work, which can reduce energy consumption. The floating foam boards can be bundled as needed and loaded modularly in layers and blocks.

The camera 609 and various sensors 610 of the plug-in are used to capture images, acoustic and electrical signals, etc.

The storage box 611 of the external fitting is used for storing picking objects, chemical reagents for operation and the like, and different boxes or containers are selected during different operations.

The propeller-attached pontoon 612 of the plug-in fitting provides navigational thrust and buoyancy in the water for driving the work robot forward in the water. Propeller 613 is positioned inside pontoon 614. The pontoon can prevent the propeller from exposing outside, increase the security, can also provide buoyancy for the robot surface of water motion and operation.

Fig. 4 shows a schematic of a linear motor 602 of the pylon fitting driving a weight for attitude adjustment. The weight can be self-added, such as weight with standard weight; in addition, some modules in the plug-in accessory, such as a power module, have weight, and can also replace the function of a weight block to be used for matching with posture adjustment. In the figure, two linear motor accessories are hung externally, four weight blocks A, B, C, D are arranged, and when the positions of the movable weight blocks are adjusted, the movable weight blocks incline, so that posture adjustment is performed. If it is desired to tilt to the left in the direction of flight, then control A, B, C, D of the four weights to move to the left can be achieved. If the left inclination is changed into the balance of the machine body or the right inclination is needed, four weight blocks are controlled A, B, C, D to move to the right to corresponding positions.

FIG. 5 is a schematic illustration of an external attachment to a work robot body.

The plug-in fitting 6 is designed according to actual operation, and can be designed and expanded according to the requirement. And the fuselage has a unified mounting interface through which it is assembled to the fuselage 1 and disassembled when not needed or to be replaced.

The plug-in fittings 6 are used in combination according to the actual operation condition and the number is also configured according to the requirement. The work robot can hang different externally hung accessories according to different motions and work modes. If the vegetable is to be sampled in the field, a mechanical arm, a mechanical foot and a mechanical wheel can be used in combination. The machine wheels are adopted to quickly reach the destination vegetable, then the machine feet are used for walking among the ridges, and the picking machine is used for picking. In this scenario, 2 robots 603, robot feet 604, and robot wheels 605 are each arranged as shown in fig. 5.

The external accessories needing to move can be provided with motors by themselves, such as a pontoon with a propeller, a manipulator, a mechanical foot and a mechanical wheel, can be driven by the motors of the external accessories to complete different movements, and can also be driven by a motor 4 on the machine body 1 to complete the movements.

Fig. 6 is a functional block diagram of a master device according to the present invention.

A master control device 5 for controlling the movement mode and operation mode of the robot and switching between various movement modes and operation modes, and controlling the movement posture of the robot; and controlling the implementation of the operation and the output of the result. Comprises a motion mode unit, a work mode unit, a motion gesture unit and a work control unit. The motion mode unit is used for selecting and controlling a motion mode of the working robot; the operation mode unit is used for selecting and controlling an operation mode of the operation robot; the motion gesture unit controls the motion gesture of the working robot; the job control unit controls the implementation of the job and the output of the result.

The movement modes comprise air, water and land modes.

The air mode refers to a mode of flying or hovering in the air. The main control device adjusts the rotating speed and the steering of the motor to control the rotating speed and the steering of the rotor wing, and generates different lifting force or sinking force in the direction vertical to the ground so that the rotor wing can vertically lift; the rotation speed difference of the rotor wing is controlled to adjust the horizontal flight direction, so that horizontal steering and torsion are realized; the main control device controls and adjusts the position of the weight block of the linear motor in the plug-in accessory to control the posture of the machine body. Therefore, in the air mode, the vertical lifting, horizontal flight, flight with different inclination angles, hovering with different inclination angles can be realized quickly, so that the robot can reach a working place quickly, and can work in flight or in suspension. The air mode requires the main control device, the motor, the rotor wing and the linear motor of the external hanging accessory to work together in a coordinated manner.

The water surface mode refers to a mode of sailing or floating on the water surface. The main control device adjusts the rotating speed and the steering direction of a propeller motor in the externally-hung accessory; and adjusting the position of a weight block of the linear motor of the externally-hung accessory to adjust the posture. The water surface mode requires the coordination of a main control device, a linear motor in the external accessory, a propeller in the external accessory and a propeller motor.

Land mode refers to a mode of travel on land. The main control device adjusts the rotating speed and the steering of a mechanical foot or a mechanical wheel motor in the externally-hung accessory, and adjusts the position of a weight block of the linear motor of the externally-hung accessory to adjust the posture, so that the action route and the inclination angle of the operation robot on the land are controlled. The land mode requires the coordination of the main control device, the linear motor in the external fitting, the mechanical foot or wheel in the external fitting and the corresponding motor. The mechanical wheels or the mechanical feet are selected according to different road conditions of the land. If the ground is flat, a mechanical wheel can be used, so that the speed is high; if the ground is rugged, the working robot can walk as fast as a multi-legged robot by using mechanical legs.

The operation mode comprises information data collection, target perception, physical entity sampling and physical entity intervention. Collecting information data, namely collecting images, acoustic and electric signals and the like; the target perception is to simply analyze the collected information data and then perceive the target and the environment; the physical entity sampling is to sample soil and water after target perception and to pick samples of actual crops and the like; the intervention of the physical entity is to perform simple processing treatment such as point spraying, chemical reagent injection and the like on the physical entity after target perception.

The implementation of the control operation means that proper plug-in accessories are selected according to different operation requirements, the machine body is controlled to reach a destination, and the plug-in accessories are controlled to carry out corresponding operation. If the apple sample is picked from the orchard, the apple sample flies to the designated fruit tree in the orchard in an air movement mode, hovers to a certain height, then the specific position of the apple is detected through the image obtained by the sensor, the apple sample is picked by extending out of the corresponding manipulator, and is placed in the designated storage basket, and after the operation is finished, the apple sample flies back to the original place.

And controlling the output of the operation result, namely storing and returning the acquired information data, and simply analyzing and outputting and processing the result of the physical entity sampling sample. If hardness of picked apples is detected through an ultrasonic sensor, hardness data of samples are obtained, on one hand, the hardness data are stored and transmitted back to a big data platform so as to carry out intelligent analysis of the background, on the other hand, the hardness data are also simply analyzed in the operation process, and then corresponding measures are taken, such as wrapping and cold prevention and the like, are carried out on the apples.

Fig. 7 is a flowchart of completing a job in combination with a fish shoal detection operation scenario according to the present invention, and the process is as follows:

(1) And selecting proper plug-in fitting assembly according to the operation scene and the operation requirement. The scene is the water surface, and the size, the quantity and the water quality of the shoal of fish need to be detected. The externally hung accessory is selected: the device comprises a linear motor, a pontoon with a propeller, a floating foam plate, a camera, a water quality sampling container, a water quality sensor and an ultrasonic sensor.

(2) The master control device selects a movement mode: an air mode and a water surface mode. Firstly, using a flying air mode from a starting point to the upper space of a detection water area, and then adopting a water surface mode to operate in the detection water area. When the water surface mode is adopted, the pontoon with the propeller provides sailing thrust and buoyancy in water; the linear motor is used for balancing the body and resisting waves.

(3) The job is started. In the operation process, a linear motor is also required to balance the machine body, so that the machine body is kept stable to a certain extent. When random sampling in the detection water area is needed slowly, a floating foam board can be started to enable the robot to drift freely on the water surface. The operation content is as follows:

1) The main control device controls the camera to start photographing operation on the shoal of fish and the underwater environment.

2) The main control device controls the ultrasonic sensor to start ultrasonic detection operation on the shoal of fish and the underwater environment.

3) The main control device controls the water quality sensor and starts the detection operation of the underwater environment.

4) The main control device controls the water quality sampling and is loaded in the water quality sampling container.

(4) And storing or saving the operation result. And storing the collected photoelectric signals, and storing the sampled water quality in a water quality sampling container.

(5) The main control device selects a movement mode and returns a carrying operation result. The operation result carried by the main control device comprises an optical photo of the fish shoal, an ultrasonic detection signal of the fish shoal, a water quality detection signal and water quality sampling. The main control device selects the aerial flight, and returns the carrying operation result to the original place.

The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.

Claims

1. An on-demand plug-in amphibious multi-mode operation robot, comprising: the device comprises a machine body, a bracket, a rotor, an externally-hung accessory, a motor and a main control device;

2. An on-demand plug-in amphibious multimode operation robot according to claim 1, wherein the rotor comprises two separate rotors symmetrically mounted on both sides of the internal support for adjusting the vertical lift and horizontal flight direction of the fuselage.

3. An on-demand plug-in amphibious multimode work robot according to claim 1, wherein said rotor comprises a coaxial twin rotor.

4. An on-demand plug-in amphibious multimode work robot according to claim 1, wherein the plug-in fittings comprise: the device comprises a power module, a linear motor, a pontoon with a propeller, a manipulator, a mechanical foot, a mechanical wheel, a floating foam plate, a camera, a sensor and a storage box.

5. An on-demand plug-in amphibious multimode operation robot according to claim 4, wherein the linear motor adjusts the attitude of the fuselage by driving a weight or driving other plug-in fittings, wherein the weight is a weight added separately.

6. An on-demand on-shore, amphibious, and multi-mode work robot as recited in claim 5, wherein said manipulator is for physical sampling work of said on-demand on-shore, amphibious, and multi-mode work robot;

the camera and the sensor are used for collecting images and acoustic signals;

7. An on-demand on-shore, amphibious and multi-mode operation robot as claimed in claim 6, wherein a propeller is provided in said pontoon with a propeller for providing sailing thrust and buoyancy in water when said on-demand on-shore, amphibious and multi-mode operation robot is operated on the water surface.

8. An on-demand plug-in amphibious multimode work robot according to claim 7, wherein the master control means comprises a movement mode unit, a work mode unit, a movement posture unit and a work control unit;

9. An on-demand plug-in amphibious multi-mode work robot according to claim 8, wherein the movement modes include an air mode, a water surface mode and a land mode;