CN215096849U - Air-water amphibious primary-secondary system - Google Patents
Air-water amphibious primary-secondary system Download PDFInfo
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- CN215096849U CN215096849U CN202120202989.XU CN202120202989U CN215096849U CN 215096849 U CN215096849 U CN 215096849U CN 202120202989 U CN202120202989 U CN 202120202989U CN 215096849 U CN215096849 U CN 215096849U
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- 238000012545 processing Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 3
- 229920006389 polyphenyl polymer Polymers 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 description 14
- 108010066114 cabin-2 Proteins 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Abstract
The utility model provides an air-water amphibious composite system, which comprises a parent robot and a child robot; the parent robot comprises a vehicle cabin, two sides of the exterior of the vehicle cabin are respectively provided with a floating wheel, a main control device for processing information, a propelling device for driving the floating wheels to rotate and a power module are arranged in the vehicle cabin, the main control device is electrically connected with the power module, and the main control device is electrically connected with the propelling device; the daughter robot comprises a rack, wherein a daughter main control cabin, a flying device and an underwater propulsion system are arranged on the rack, and a daughter control device for processing information is arranged in the daughter main control cabin; the flying device and the underwater propulsion system are electrically connected with the sub-control device; the main control device is electrically connected with the sub-control devices. The air-water amphibious composite system can be suitable for three working environments of water, land and air, and solves the problems that the existing robot system is poor in flexibility, weak in adaptability, limited in multifunctional motion mode and the like when being searched and positioned in three fields of water, land and air.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to air-water amphibious primary and secondary system.
Background
With the increasing importance of monitoring water areas such as oceans, lakes, rivers and the like, a robot system with a function of searching in a complex environment is urgently needed, and a single robot platform is limited. Meanwhile, under the conditions of rapid development of robot technology and diversified requirements of modern society, the amphibious robot is widely applied to civil use, military use, scientific research and the like and has remarkable effect. The amphibious robot has the advantages that the working environment is empty water, land and water or land and air, so that the amphibious robot can be quickly adapted to two environments and can complete tasks, and the amphibious robot has wide development prospects in the field of robots. In order to adapt to more diversified task environments, how to design a robot capable of adapting to three working environments, namely water, land and air, and having high flexibility, high adaptability and high stability becomes one of important points of research. Therefore, the invention has wide development prospect.
In order to meet diversified task requirements, researchers at home and abroad carry out a great deal of design and research on amphibious robots. The connection of two systems is by the electro-magnet on the four shaft air vehicle lower plate and the chinese patent of snake robot like this patent for application patent No. CN201910448253.8, and this patent is an empty amphibious robot in land, and the relative position and the ultrasonic module that judge two systems through camera module judge relative distance including the iron plate at four shaft air vehicle and snake top constitute. But the amphibious robot is only limited to an air-ground environment and has no detection function.
Also for example, chinese patent publication No. CN111660742A discloses a multi-rotor amphibious unmanned aerial vehicle, which includes a pressure-resistant housing, a folding arm, a driving system, a pressure sensor, and a propeller. This unmanned aerial vehicle switches two kinds of mode through pressure sensor, flies to suitable position with the motor rotation through folding horn in the air, withdraws the motor through folding horn when getting into under water, through six other motor cooperation drives on the unmanned aerial vehicle. However, the unmanned aerial vehicle is only limited to navigation in a water-air environment and cannot be suspended on the water surface or water surface for navigation.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned problem among the prior art, the utility model provides an amphibious primary and secondary system of empty water can be applicable to three kinds of operational environment in the air and water, has solved the amphibious robot among the prior art and only has possessed the function at the operational environment operation in the air and water or the air and water, and can not be in the problem of the operation in three kinds of operational environment in the air and water. In order to achieve the purpose of the invention, the technical scheme adopted by the utility model is as follows:
providing an air-water amphibious child-mother system, which comprises a parent robot and a child robot;
the parent robot comprises a vehicle cabin, two sides of the exterior of the vehicle cabin are respectively provided with a floating wheel, a main control device for processing information, a propelling device for driving the floating wheels to rotate and a power module are arranged in the vehicle cabin, the main control device is electrically connected with the power module, and the main control device is electrically connected with the propelling device;
the daughter robot comprises a rack, wherein a daughter main control cabin, a flying device and an underwater propulsion system are arranged on the rack, and a daughter control device for processing information is arranged in the daughter main control cabin; the flying device and the underwater propulsion system are electrically connected with the sub-control device; the main control device is electrically connected with the sub-control device through a signal cable.
The parent robot is mainly used for floating on water and moving on land, realizes the detection of the water surface and land surface fields and provides electric energy for the daughter robot; the daughter robot is mainly used for air flight and underwater operation, and detection in the air and underwater fields is realized; the parent robot and the daughter robot cooperatively operate, the purpose of detection in three working environments of water, land and air is achieved, and the problem that the amphibious robot in the prior art only operates in the working environment of water, air or land and air is solved.
Furthermore, a sensor module for acquiring external environment signals, a communication module for realizing signal transmission and a positioning module for acquiring position signals are arranged in the vehicle cabin, and the sensor module, the communication module and the positioning module are all electrically connected with the main control device. The main control device is responsible for receiving and processing information and communication data of various sensors and sending control signals; the sensor module and the positioning module are used for acquiring external environment signals and position signals; the communication module is used for exchanging information data of each module in the vehicle cabin and the outside.
Furthermore, the propulsion device is a motor, the driving of the vehicle cabin is completed through the control of the main control device, and the movement of the parent robot on the water surface and the land surface is realized.
Furthermore, the rack is disc-shaped, and a plurality of mounting holes are formed in the rack; the flight devices are multiple, each flight device comprises a waterproof motor electrically connected with the sub-control device, and the waterproof motor is provided with a propeller; and each mounting hole is internally provided with a flying device. The flying device enables the daughter robot to fly in the air and on the water surface at any degree of freedom, and the detection of the daughter robot in the air environment is realized.
Furthermore, the underwater propulsion systems are multiple and are arranged at the top of the rack, each underwater propulsion system comprises an underwater propulsion duct, a waterproof steering engine electrically connected with the sub-control device is arranged in each underwater propulsion duct, and the steering engines can control the underwater advancing direction of the sub-body robot. The underwater propulsion systems can be two and are respectively positioned on two sides of the top of the frame, and the underwater propulsion systems enable the daughter robot to sail at multiple degrees of freedom under complex water, so that the daughter robot can work in an underwater environment.
Furthermore, the frame is made of polyphenyl ester, which is a low-density and high-strength material, so that the frame can bear the self gravity and the buffer force when the frame is grounded, and the characteristic of small mass is required to be met.
Furthermore, the lower surface of the rack is provided with a plurality of support frames, the support frames facilitate the landing of the sub-body robot, the impact force of the landing of the sub-body robot can be absorbed, and the rack is prevented from being damaged when the sub-body robot lands.
Furthermore, a sensor module, a communication module and a positioning module which are electrically connected with the sub-control device are arranged in the rack. The sensor module can comprise various sensors, such as a vision sensor, a gyroscope, an acceleration sensor, a radiation detection sensor and the like, and the sensor module can be used for acquiring data such as the motion state of the sub-body, the system operation state, environmental parameters and the like, feeding the data back to the sub-control device, the communication module and the positioning module in time and completing the targeted motion control of the sub-body robot.
Further, the top of the vehicle cabin is provided with a storage bin, an air expansion device is arranged in the storage bin, the air expansion device comprises an air bag and an inflator pump, the inflator pump is connected with the air bag in a sealing mode, and the inflator pump is electrically connected with the main control device. Daughter robot can place on parent robot, and the inflator pump carries out quick inflation to the gasbag, can launch daughter robot, realizes daughter robot and takes off fast, and daughter robot takes off and accomplishes the back, and the inflator pump reversal is with the gas outgoing in the gasbag, and the gasbag is withdrawed in the collecting storage facility.
The utility model has the advantages that: the parent robot in the scheme is mainly used for floating on water and moving on land, and realizes the detection of the water surface and land surface fields and provides electric energy for the daughter robot; the daughter robot is mainly used for air flight and underwater operation, and detection in the air and underwater fields is realized; the parent robot and the daughter robot work cooperatively, and detection in three working environments of water, land and air is achieved.
Drawings
FIG. 1 is a schematic structural diagram of an air-water amphibious child-mother system.
Fig. 2 is a schematic structural diagram of the air expansion device on the vehicle cabin.
Fig. 3 is a schematic block diagram of a parent robot control circuit.
Fig. 4 is a schematic block diagram of a daughter robot control circuit.
Wherein, 1, a parent robot; 2. a vehicle cabin; 3. a floating wheel; 4. a propulsion device; 5. a daughter robot; 6. A frame; 7. a sub-main control cabin; 8. a flying device; 801. a waterproof motor; 802. a propeller; 9. an underwater propulsion system; 901. propelling the duct underwater; 902. a waterproof steering engine; 10. a signal cable; 11. a support frame; 12. an air expansion device; 1201. an air bag; 1202. an inflator pump.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes will be apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all inventions contemplated by the present invention are protected.
As shown in fig. 1 to 4, an air-water amphibious composite system is provided, which includes a parent robot 1 and a daughter robot 5; the parent robot 1 comprises a vehicle cabin 2, a storage bin is arranged at the top of the vehicle cabin 2, an air expansion device 12 is arranged in the storage bin, the air expansion device 12 comprises an air bag 1201 and an inflator pump 1202, the inflator pump 1202 is connected with the air bag 1201 in a sealing mode, and the inflator pump 1202 is electrically connected with a main control device. Daughter robot 5 can place on parent robot 1, and inflator pump 1202 carries out quick inflation to gasbag 1201, can launch daughter robot 5, realizes daughter robot 5 and takes off fast, and daughter robot 5 takes off and accomplishes the back, and inflator pump 1202 reverses, with the gas outgoing in the gasbag 1201, in the storage bin was regained to gasbag 1201.
The two sides of the outside of the vehicle cabin 2 are respectively provided with a floating wheel 3, the inside of the vehicle cabin 2 is provided with a main control device for processing information, a propelling device 4 for driving the floating wheel 3 to rotate and a power module, the main control device is electrically connected with the power module, and the main control device is electrically connected with the propelling device 4; the propulsion device 4 is a motor, and the driving of the vehicle cabin 2 is completed through the control of the main control device, so that the movement of the parent robot 1 on the water surface and the land surface is realized. The parent robot 1 is mainly used for floating on water and moving on land, and realizes detection of the water surface and land surface fields and provides electric energy for the daughter robot 5. The vehicle cabin 2 is internally provided with a sensor module for acquiring external environment signals, a communication module for realizing signal transmission and a positioning module for acquiring position signals, and the sensor module, the communication module and the positioning module are all electrically connected with the main control device. The main control device is responsible for receiving and processing information and communication data of various sensors and sending control signals; the sensor module and the positioning module are used for acquiring external environment signals and position signals; the communication module exchanges information data with each module inside the vehicle compartment 2 and with the outside. The model of the communication module can be EC20, and the model of the positioning module can be a GPS positioning module or a Beidou positioning module;
the daughter robot 5 comprises a rack 6, a daughter main control cabin 7, a flying device 8 and an underwater propulsion system 9 are arranged on the rack 6, and a daughter main control device for processing information is arranged in the daughter main control cabin 7; the flying device 8 and the underwater propulsion system 9 are electrically connected with the sub-control device.
The frame 6 is disc-shaped, and a plurality of mounting holes are formed in the frame 6; the number of the flight devices 8 is multiple, each flight device 8 comprises a waterproof motor 801 electrically connected with the sub-control device, and a propeller 802 is arranged on each waterproof motor 801; each mounting hole is provided with a flying device 8. The flying device 8 enables the daughter robot 5 to fly in the air and on the water surface with any degree of freedom, so that the daughter robot 5 can float and hover, advance and retreat, transverse movement, posture adjustment and the like can be realized, and the detection of the daughter robot 5 in the air environment can be realized.
The underwater propulsion systems 9 are multiple, the underwater propulsion systems 9 are arranged at the top of the rack 6, each underwater propulsion system 9 comprises an underwater propulsion duct 901, a waterproof steering engine 902 electrically connected with a sub-control device is arranged in each underwater propulsion duct 901, the steering engine can control the advancing direction of the daughter robot 5 in an underwater environment, and the moving direction of the daughter robot 5 adjusted by the steering engine can realize sinking, advancing, retreating and transverse moving. The number of the underwater propulsion systems 9 can be two, the two underwater propulsion systems are respectively positioned on two sides of the top of the frame 6, and the underwater propulsion systems 9 enable the daughter robot 5 to navigate in complex underwater multiple degrees of freedom, so that the daughter robot 5 can work in an underwater environment.
The frame 6 is made of polyphenyl ester which is a low-density high-strength material, so that the frame 6 can bear the self gravity and the buffer force when the frame is grounded, and the characteristic of small mass is required to be met.
The lower surface of frame 6 is provided with a plurality of support frames 11, and support frame 11 makes things convenient for daughter robot 5 to land, can absorb the impact force that daughter robot 5 landed, and frame 6 receives the damage when avoiding landing.
And a sensor module, a communication module and a positioning module which are electrically connected with the sub-control device are arranged in the frame 6. The sensor module can include various sensors, such as a vision sensor, a gyroscope, an acceleration sensor, a radiation detection sensor and the like, and the sensor module can complete the acquisition of data such as the motion state of the sub-body, the system operation state, environmental parameters and the like, and timely feed back the data to the sub-control device, the communication module and the positioning module to complete the targeted motion control of the sub-body robot 5.
The main control device is electrically connected with the sub-control device through a signal cable 10, and the sub-robot 5 is mainly used for air flight and underwater operation to realize detection in the air and underwater fields; the parent robot 1 and the daughter robot 5 cooperatively operate, the purpose of detection in three working environments of water, land and air is achieved, and the problem that the amphibious robot in the prior art only operates in the working environment of water, air or land and air is solved.
Claims (9)
1. An air-water amphibious composite system is characterized by comprising a parent robot (1) and a daughter robot (5);
the parent robot (1) comprises a vehicle cabin (2), two sides of the outside of the vehicle cabin (2) are respectively provided with a floating wheel (3), a main control device for processing information, a propelling device (4) for driving the floating wheel (3) to rotate and a power module are arranged inside the vehicle cabin (2), the main control device is electrically connected with the power module, and the main control device is electrically connected with the propelling device (4);
the daughter robot (5) comprises a rack (6), a daughter main control cabin (7), a flying device (8) and an underwater propulsion system (9) are arranged on the rack (6), and a daughter main control device for processing information is arranged in the daughter main control cabin (7); the flying device (8) and the underwater propulsion system (9) are electrically connected with the sub-control device; the main control device is electrically connected with the sub-control devices through signal cables (10).
2. An air-water amphibious composite system according to claim 1, wherein a sensor module for acquiring external environment signals, a communication module for realizing signal transmission and a positioning module for acquiring position signals are arranged in the vehicle cabin (2), and the sensor module, the communication module and the positioning module are all electrically connected with the main control device.
3. An air-water amphibious parent-child system according to claim 2, characterised in that the propulsion device (4) is an electric motor.
4. An air-water amphibious composite system according to claim 1, wherein the frame (6) is disc-shaped, and a plurality of mounting holes are formed in the frame (6);
the flight devices (8) are multiple, each flight device (8) comprises a waterproof motor (801) electrically connected with the sub-control device, and a propeller (802) is arranged on each waterproof motor (801); each mounting hole is internally provided with a flying device (8).
5. An air-water amphibious composite system according to claim 1, wherein there are multiple underwater propulsion systems (9), the multiple underwater propulsion systems (9) are all arranged on the top of the frame (6), each underwater propulsion system (9) comprises an underwater propulsion duct (901), and a waterproof steering engine (902) electrically connected with the sub-control device is arranged in each underwater propulsion duct (901).
6. An air-water amphibious parent-child system according to claim 5, characterised in that the material of the frame (6) is polyphenyl.
7. An air-water amphibious composite system according to claim 6, characterised in that the lower surface of the frame (6) is provided with a plurality of support frames (11).
8. An air-water amphibious composite system according to claim 7, wherein sensor modules, communication modules and positioning modules are arranged in the frame (6) and electrically connected with the sub-control devices.
9. An air-water amphibious composite system according to claim 7, wherein a storage bin is arranged at the top of the vehicle cabin (2), an air expansion device (12) is arranged in the storage bin, the air expansion device (12) comprises an air bag (1201) and an inflator pump (1202), the inflator pump (1202) is hermetically connected with the air bag (1201), and the inflator pump (1202) is electrically connected with a main control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120202989.XU CN215096849U (en) | 2021-01-25 | 2021-01-25 | Air-water amphibious primary-secondary system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120202989.XU CN215096849U (en) | 2021-01-25 | 2021-01-25 | Air-water amphibious primary-secondary system |
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| Publication Number | Publication Date |
|---|---|
| CN215096849U true CN215096849U (en) | 2021-12-10 |
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| CN202120202989.XU Expired - Fee Related CN215096849U (en) | 2021-01-25 | 2021-01-25 | Air-water amphibious primary-secondary system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802657A (en) * | 2022-03-18 | 2022-07-29 | 中国舰船研究设计中心 | Gyro-type cross-medium unmanned aircraft and working method thereof |
-
2021
- 2021-01-25 CN CN202120202989.XU patent/CN215096849U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802657A (en) * | 2022-03-18 | 2022-07-29 | 中国舰船研究设计中心 | Gyro-type cross-medium unmanned aircraft and working method thereof |
| CN114802657B (en) * | 2022-03-18 | 2024-01-26 | 中国舰船研究设计中心 | Gyro type cross-medium unmanned aircraft and working method thereof |
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