阅读说明：本技术 一种全地域资源探测机器人 (All-terrain resource detection robot ) 是由 刘亮 张宝吉 张翼 王卢壮 吴启铭 于 2021-11-16 设计创作，主要内容包括：一种全地域资源探测机器人,包含多功能探测平台、连接所述多功能探测平台的多个转换机械足、连接所述多功能探测平台的多个飞行支架、以及设置在所述转换机械足和所述飞行支架上的驱动装置。本发明可以有效解决人工探测强度大,效率低,成本高,存在未知危险,以及现有资源探测机器人存在驱动能力不足、探测区域局限性等问题。(The utility model provides a region-wide resource detection robot, contains multi-functional detection platform, connects a plurality of conversion machinery of multi-functional detection platform are sufficient, connect a plurality of flight support of multi-functional detection platform and set up conversion machinery foot with drive arrangement on the flight support. The invention can effectively solve the problems of high manual detection strength, low efficiency, high cost, unknown danger, insufficient driving capability, limited detection area and the like of the existing resource detection robot.)

1. A region-wide resource exploration robot, comprising: the multifunctional detection platform comprises a multifunctional detection platform, a plurality of conversion mechanical feet connected with the multifunctional detection platform, a plurality of flight supports connected with the multifunctional detection platform, and driving devices arranged on the conversion mechanical feet and the flight supports.

2. The all-terrain resource detection robot of claim 1, wherein the multifunctional detection platform comprises a platform body, and a pan-tilt device and an infrared distance measurement device arranged on the platform body;

the platform main body is provided with a GPS positioning system, a singlechip control system, a flight control panel, a first wireless transceiving module and a power supply module;

the holder device includes: the wireless camera is detachably connected below the platform main body through the cradle head, and after the cradle head senses the action of the multifunctional detection platform through the sensor, the vibration of the multifunctional detection platform is counteracted through the driving of the first brushless motor, so that the wireless camera is kept stable;

the infrared distance measuring device is detachably connected above the platform main body and used for predicting the distance between a target and the all-terrain resource detection robot.

3. The all-terrain resource detection robot of claim 2, wherein the flight control panel comprises an ultrasonic height determination module, a second wireless transceiver module, a gyroscope, an accelerometer, a microcontroller module, and a brushless motor electronic speed regulation system;

the ultrasonic height-fixing module is used for detecting the flying height of the all-terrain resource detection robot during operation;

the second wireless transceiver module is used for communicating with the all-terrain resource detection robot to realize real-time control of the all-terrain resource detection robot;

the microcontroller module is used for acquiring and processing data of flight control;

the electronic speed regulating system of the brushless motor controls the brushless motor through a circuit so as to regulate the flight attitude of the all-region resource detection robot;

the gyroscope, the accelerometer and the GPS can be matched with each other to accurately obtain the position and the state of the all-terrain resource detection robot and the change condition of the position and the state.

4. The all-terrain resource exploration robot of claim 1, wherein the conversion mechanical feet are arranged on two sides of the multifunctional exploration platform in an axial symmetry manner, and the conversion mechanical feet comprise: the leg part and the foot part are mechanically connected, and the leg part is of a hollow structure;

the leg part comprises an upper leg half part and a lower leg half part which are movably hinged, the upper leg half part is movably hinged with the platform main body, and the lower leg half part is rotatably connected with the foot part through a first self-locking motor;

the first self-locking motor is fixedly connected to the lower end of the lower half part of the leg, the foot is fixedly connected to a rotating shaft of the first self-locking motor through a foot connecting piece, a supporting leg, a second underwater propeller and a hub are arranged on the foot connecting piece, the supporting leg and the second underwater propeller are fixedly connected to the foot connecting piece, a three-dimensional pressure sensor is arranged at the lower end of the supporting leg, the hub is fixedly connected to the rotating shaft of the second self-locking motor, and the second self-locking motor is fixedly connected to the foot connecting piece;

the supporting legs, the second underwater propeller and the hub are located in the same plane and are 120 degrees away from each other.

5. The all-terrain resource surveying robot of claim 1, wherein the flying carriage is disposed centrally symmetrically around the multi-functional surveying platform, and the flying carriage comprises: the flight support is of a hollow structure.

6. The all-terrain resource exploration robot of claim 3, wherein the drive means comprises an aerial drive means, an underwater drive means, and a land drive means;

each flight support is at least provided with an aerial driving device and an underwater driving device;

each conversion mechanical foot is provided with at least one underwater driving device and one land driving device.

7. The regional resource exploration robot of claim 6, wherein the aerial drive device comprises a brushless motor electrically connected to the flight control board, a rotor mechanically connected to the brushless motor, and an encoder for detecting a rotational speed of the brushless motor.

8. The all-terrain resource surveying robot of claim 6, wherein the underwater drive device includes a first underwater propeller and a second underwater propeller, the first underwater propeller being disposed on the flight deck, the second underwater propeller being disposed on a foot of the conversion robot;

the first underwater thruster and the second underwater thruster both at least comprise: the propeller and drive the DC motor that the propeller rotated, the DC motor circuit is connected to single chip microcomputer control system.

9. The all-terrain resource surveying robot of claim 6, wherein the land drive means comprises: the device comprises a foot part and a first self-locking motor driving the foot part to rotate.

10. The all-terrain resource exploration robot of claim 7, wherein a first hemispherical compression-resistant waterproof cover is arranged above the multifunctional exploration platform and is in watertight connection with the edge of the platform body;

rotor top is provided with the hemisphere resistance to compression buckler of second, the hemisphere resistance to compression buckler of second with flight support watertight connection, the hemisphere resistance to compression buckler circuit connection of second to single chip microcomputer control system.

Technical Field

The invention relates to the field of robot innovation and application, in particular to a whole-region resource detection robot.

Background

At present, resources available for people on earth are less and less, the resource detection is particularly important, the resource detection is performed in regions where people can reach, satellites are generally used for shooting in places where people cannot reach, and then analysis is performed according to the pictures. However, the results obtained in this way are not comprehensive, and there are often situations of misdetection and misdetection, and there are some regions where the satellite can not shoot, such as in a cave and below the water surface, and there are some regions where the radioactive substances are more, and the radioactive substances can not be detected only by taking a picture. There is also a significant safety risk when workers enter unknown regions.

Aiming at the problem, some resource detection robots are developed in the market, but all the robots can only detect in a single region, cannot realize comprehensive detection of water, land and air, and are not beneficial to specific analysis of workers.

Disclosure of Invention

The invention aims to provide a regional resource detection robot, which can effectively solve the problems of high manual detection strength, low efficiency, high cost, unknown danger, insufficient driving capability, detection area limitation and the like of the conventional resource detection robot.

In order to achieve the above object, the present invention provides a region-wide resource exploration robot, comprising: the multifunctional detection platform comprises a multifunctional detection platform, a plurality of conversion mechanical feet connected with the multifunctional detection platform, a plurality of flight supports connected with the multifunctional detection platform, and driving devices arranged on the conversion mechanical feet and the flight supports.

The multifunctional detection platform comprises a platform main body, and a holder device and an infrared distance measuring device which are arranged on the platform main body;

the platform main body is provided with a GPS positioning system, a singlechip control system, a flight control panel, a first wireless transceiving module and a power supply module;

the holder device includes: the wireless camera is detachably connected below the platform main body through the cradle head, and after the cradle head senses the action of the multifunctional detection platform through the sensor, the vibration of the multifunctional detection platform is counteracted through the driving of the first brushless motor, so that the wireless camera is kept stable;

the infrared distance measuring device is detachably connected above the platform main body and used for predicting the distance between a target and the all-terrain resource detection robot.

The flight control panel comprises an ultrasonic height-fixing module, a second wireless transceiver module, a gyroscope, an accelerometer, a microcontroller module and a brushless motor electronic speed regulation system;

the ultrasonic height-fixing module is used for detecting the flying height of the all-terrain resource detection robot during operation;

the second wireless transceiver module is used for communicating with the all-terrain resource detection robot to realize real-time control of the all-terrain resource detection robot;

the microcontroller module is used for acquiring and processing data of flight control;

the electronic speed regulating system of the brushless motor controls the brushless motor through a circuit so as to regulate the flight attitude of the all-region resource detection robot;

the gyroscope, the accelerometer and the GPS can be matched with each other to accurately obtain the position and the state of the all-terrain resource detection robot and the change condition of the position and the state.

The conversion mechanical foot is arranged on two sides of the multifunctional detection platform in an axial symmetry manner, and comprises: the leg part and the foot part are mechanically connected, and the leg part is of a hollow structure;

the leg part comprises an upper leg half part and a lower leg half part which are movably hinged, the upper leg half part is movably hinged with the platform main body, and the lower leg half part is rotatably connected with the foot part through a first self-locking motor;

the first self-locking motor is fixedly connected to the lower end of the lower half part of the leg, the foot is fixedly connected to a rotating shaft of the first self-locking motor through a foot connecting piece, a supporting leg, a second underwater propeller and a hub are arranged on the foot connecting piece, the supporting leg and the second underwater propeller are fixedly connected to the foot connecting piece, a three-dimensional pressure sensor is arranged at the lower end of the supporting leg, the hub is fixedly connected to the rotating shaft of the second self-locking motor, and the second self-locking motor is fixedly connected to the foot connecting piece;

the supporting legs, the second underwater propeller and the hub are located in the same plane and are 120 degrees away from each other.

The flight support is central symmetry and sets up around multi-functional detection platform, the flight support contains: the flight support is of a hollow structure.

The driving device comprises an aerial driving device, an underwater driving device and a land driving device;

each flight support is at least provided with an aerial driving device and an underwater driving device;

each conversion mechanical foot is provided with at least one underwater driving device and one land driving device.

The aerial drive device comprises a brushless motor, a rotor and an encoder, wherein the brushless motor is connected with the flight control panel through a circuit, the rotor is mechanically connected with the brushless motor, and the encoder is used for detecting the rotating speed of the brushless motor.

The underwater driving device comprises a first underwater propeller and a second underwater propeller, the first underwater propeller is arranged on the flying support, and the second underwater propeller is arranged on the foot part of the conversion mechanical foot;

the first underwater thruster and the second underwater thruster both at least comprise: the propeller and drive the DC motor that the propeller rotated, the DC motor circuit is connected to single chip microcomputer control system.

The land drive comprises: the device comprises a foot part and a first self-locking motor driving the foot part to rotate.

A first hemispherical compression-resistant waterproof cover is arranged above the multifunctional detection platform and is in watertight connection with the edge of the platform main body;

rotor top is provided with the hemisphere resistance to compression buckler of second, the hemisphere resistance to compression buckler of second with flight support watertight connection, the hemisphere resistance to compression buckler circuit connection of second to single chip microcomputer control system.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention provides a detection robot which has wide detection range, strong driving capability and light weight, can realize multi-degree-of-freedom movement and can operate in severe environment.

2. The leg and the flying support adopt hollow structures, so that the weight of the detection robot is reduced, and the detection robot can be used for arranging circuits.

3. According to the invention, the foot fixedly connected to the rotating shaft of the first self-locking motor at the lower end of the leg part can rotate along with the first self-locking motor, so that the supporting leg, the second underwater propeller and the hub fixedly connected to the foot connecting piece are in frictional contact with the ground alternately, and the all-terrain resource detection robot can walk.

4. The direction of thrust generated by the second underwater propeller can be changed by the rotation of the first self-locking motor, so that the change of the motion posture of the all-terrain resource detection robot during underwater operation is realized.

5. According to the invention, the anti-pressure waterproof covers are arranged above the oval platform and at the rotor wing of the flight support, and the oval platform and the flight support are in watertight connection with the anti-pressure waterproof covers, so that the components such as a central control system and the rotor wing are prevented from being damaged by liquid and water pressure.

6. The invention relates to a flight support which is movably hinged by a foldable big arm and a foldable small arm, and the flight support can be folded upwards along the horizontal direction. When the all-terrain resource detection robot works on the land, the contact between the robot and the outside can be reduced, and the collision can be avoided; when the underwater robot works underwater, the direction of thrust generated by the first underwater propeller can be changed, and the robot is helped to move in multiple degrees of freedom.

Drawings

Fig. 1 is a schematic view of an overall structure of a regional resource exploration robot provided by the present invention.

Fig. 2 is a front view of a region-wide resource detection robot provided by the present invention.

Fig. 3 is a top view of a region-wide resource detection robot provided in the present invention.

Fig. 4 is a schematic structural view of the second pressure-resistant waterproof cover in the open state of the present invention.

Fig. 5 is a schematic structural view of the flight support in the folded state according to the present invention.

FIG. 6 is a schematic diagram of the structure of the multifunctional detection platform of the present invention.

FIG. 7 is a schematic view of the structure of the flight control panel of the present invention.

Fig. 8 is a schematic structural view of the conversion mechanical foot of the present invention.

Fig. 9 is a schematic view of the structure of the foot of the present invention.

Fig. 10 is a schematic structural view of the flying lead frame of the present invention.

Fig. 11 is a schematic view of the structure of the foldable forearm in the invention.

Fig. 12 is a sectional view of the underwater propeller in the present invention.

FIG. 13 is a partial cross-sectional view of a foldable stand according to the present invention

Fig. 14 is a schematic view of the structure of a propeller portion of the underwater propeller of the present invention.

In the above figures: 1. a multifunctional detection platform; 2. an encoder; 3. a first joint axis; 4. a first hemispherical compression-resistant waterproof cover; 5. a rotor; 6. a first underwater propeller; 7. a holder; 8. a wireless camera; 9. a three-dimensional pressure sensor; 10. a first self-locking motor; 11. supporting legs; 12. an electronic speed regulation system of the brushless motor; 13. a shaft sleeve; 14. an infrared distance measuring device; 15. a gear; 16. a flight support; 17. a singlechip control system; 18. a power supply module; 19. an ultrasonic height-fixing module; 20. a flight control panel; 21. a second wireless transceiver module; 22. a gyroscope; 23. an accelerometer; 24. a foot section; 25. an elliptical platform; 26. a first brushless motor; 27. a type I stent; 28. a sensor; 29. a second brushless motor; 30. a third brushless motor; 31. a fourth brushless motor; 32. a fifth brushless motor; 33. a leg portion; 34. a lower leg half; 35. the upper half of the leg; 36. an aerial drive device; 37. a land drive; 38. an underwater drive device; 39. a rotating shaft; 40. a microcontroller module; 41. a second underwater propeller; 42. a hub; 43. a second self-locking motor; 44. a first wireless transceiving module; 45. a GPS positioning system; 46. converting the mechanical foot; 47. a direct current motor; 48. a shaft sleeve nail; 49. a foldable big arm; 50. a foldable forearm; 51. a second joint axis; 52. ducted propellers; 53. a foot link; 54. a propeller; 55. a second hemispherical compression-resistant waterproof cover; 56. a locking member; 57. a duct; 58. a rotating shaft sealing device; 59. a hub; 60. a hub cap; 62. a paddle; 63. a motor bracket; 64. a leaf tip; 65. the superior ligament; 66. the inferior ligament; 67. the end part is connected with the shaft.

Detailed Description

The preferred embodiment of the present invention will be described in detail below with reference to fig. 1 to 14.

As shown in fig. 1 to 5, the present embodiment provides a regional resource exploration robot, including: the multifunctional detection platform 1, the conversion mechanical foot 46, the flight support 16 and the driving device.

As shown in fig. 1 to 7, the multifunctional detection platform 1 includes an elliptical platform 25, a pan-tilt device 7 and an infrared distance measuring device 14, wherein the infrared distance measuring device 14 is detachably connected to the upper end of the elliptical platform 25 right in front of the elliptical platform by an I-shaped bracket 27, so that the distance between a target and the all-terrain resource detection robot can be predicted. Cloud platform device 7 contains wireless camera 8, cloud platform 7, first brushless motor 26 and sensor 28, wireless camera 8 can dismantle the connection at oval platform 25 dead ahead lower extreme through cloud platform 7, and cloud platform 7 passes through the action back of the multi-functional detection platform 1 of sensor 28 perception, and the vibrations of multi-functional detection platform 1 are offset in the drive of rethread brushless motor 26, makes wireless camera 8 remain stable, and the cloud platform can be to the every single move, motion such as driftage increases steadily to make the staff of computer end obtain stable, clear picture. The elliptical platform 25 is provided with a GPS positioning system 45, a single chip microcomputer control system 17, a flight control panel 20, a first wireless transceiving module 44 and a power supply module 18. In this embodiment, the single chip microcomputer control system 17 includes a K60 chip and a card slot, the card slot is fixed on the circuit board by welding, and the K60 chip is detachably connected with the card slot. As shown in fig. 7, the flight control board 20 includes an ultrasonic height-setting module 19, a second wireless transceiver module 21, a gyroscope 22, an accelerometer 23, a microcontroller module 40 and a brushless motor electronic speed regulation system 12; the flying height of module 19 when being used for detecting region-wide resource detection robot operation is decided to ultrasonic wave, second wireless transceiver module 21 is used for communicating with region-wide resource detection robot, realizes the real time control to region-wide resource detection robot, microcontroller module 40 is used for data acquisition and processing to flight control, brushless motor electronic speed control system 12 controls brushless motor through the circuit, and brushless motor turns into the rotational speed of rotor 5 with the output of flight control panel 20, changes the lift and the reaction torque of each rotor 5 to adjust region-wide resource detection robot's flight gesture. The GPS positioning system 45, the gyroscope 22 and the accelerometer 23 are matched with each other, so that the position and the state of the all-region resource detection robot and the change condition of the position and the state can be accurately obtained. As shown in fig. 1, a first hemispherical compression-resistant waterproof cover 4 is arranged above the multifunctional detection platform 1, and the first hemispherical compression-resistant waterproof cover 4 is in watertight connection with the edge of the elliptical platform 25, so that damage to internal components of the multifunctional detection platform 1 caused by liquid, water pressure and the like is avoided.

As shown in fig. 1, 2, 6, 8 and 9, in the present embodiment, 4 conversion mechanical feet 46 are provided, which are divided into two groups, and each group is symmetrically provided on both sides of the elliptical platform 25. The conversion mechanical foot 46 comprises a leg part 33 and a foot part 24, the leg part 33 comprises an upper leg part 35 and a lower leg part 34 (shown in fig. 8) which are movably hinged through a first joint shaft 3, the upper leg part 35 is movably hinged with an end connecting shaft 67 of the elliptical platform 25 through a shaft sleeve 13 and a shaft sleeve nail 48, the lower leg part 34 is rotatably connected with the foot part 24 through a first self-locking motor 10, the first self-locking motor 10 is fixedly connected to the lower end of the lower leg part 34, the foot part 24 is fixedly connected to a rotating shaft of the first self-locking motor 10 through a foot connecting part 53, and the foot connecting part 53 is provided with a supporting leg 11, a second underwater propeller 41 and a hub 42. The supporting leg 11 and the second underwater thruster 41 are both fixedly connected to the foot connecting piece 53, the hub 42 is fixedly connected to the rotating shaft of the second self-locking motor 43, and the second self-locking motor 43 is fixedly connected to the foot connecting piece 53 through the motor support 63. The supporting leg 11, the second underwater propeller 41 and the hub 42 are located in the same plane and form an angle of 120 degrees with each other, the lower end of the supporting leg 11 is further provided with a three-dimensional pressure sensor 9 (as shown in fig. 9), and whether the robot lands or not can be judged. The leg portion 33 of the conversion mechanism foot 46 adopts a hollow structure to reduce the structural weight and can be used to arrange a circuit.

As shown in fig. 1, 5 and 10, in the present embodiment, 4 flying supports 16 are provided, and the 4 flying supports 16 are arranged on the edge of the elliptical platform 25 in an X-shape and symmetrical manner as a whole. In this embodiment, the flying support 16 includes a foldable big arm 49 and a foldable small arm 50 (as shown in fig. 10) that are movably hinged through a second joint shaft 51, and the flying support 16 can be folded upwards along a horizontal direction to reduce the contact between the all-terrain resource detection robot and external objects during underwater and land detection and avoid collision, and at the same time, the direction in which the propeller 54 of the first underwater thruster 6 generates thrust can be changed. The flying support 16 adopts a hollow structure, so that the weight of the all-terrain resource detection robot is reduced, and a circuit can be arranged.

As shown in fig. 1, 3, 4, 7 and 11, the drive means includes an aerial drive 36, a submerged drive 38 and a land drive 37. The aerial drive units 36 are arranged on the flight supports 16, and one aerial drive unit 36 is correspondingly arranged on each flight support 16. Aerial drive arrangement 36 contains brushless motor, rotor 5 and encoder 2, and brushless motor's pivot 39 departments are equipped with the screw thread, and rotor 5 and retaining member 56 are equipped with pivot 39 matched with internal screw thread, rotor 5 through pivot 39 with brushless motor connects, carries out further fixed by retaining member 56 again after rotor 5 and the 39 threaded connection of pivot. The connection part of the flying support 16 and the brushless motor is provided with an encoder 2, the brushless motor and the encoder 2 are driven by a gear 15, and the encoder 2 detects the rotating speed of the brushless motor by the gear 15 (as shown in fig. 11). Rotor 5 top is provided with second hemisphere resistance to compression buckler 55, and second hemisphere resistance to compression buckler 55 is connected with the 16 watertight of flight support, and second hemisphere resistance to compression buckler 55 circuit connection is to single chip microcomputer control system 17, and opening and the closure of second hemisphere resistance to compression buckler 55 are controlled by single chip microcomputer control system 17, can avoid all territories resource detection robot liquid and water pressure to cause destruction to parts such as rotor 5, encoder 2 and brushless motor when moving under water. The brushless motor circuit is connected to the flight control panel 20 and is controlled by the brushless motor electronic governor system 12 in the flight control panel 20. The 4 rotors 5 in this embodiment are all identical in structure and radius and all lie in the same elevation plane. In the present embodiment, 4 brushless motors of the 4 aerial drive devices 36 are named as a second brushless motor 29, a third brushless motor 30, a fourth brushless motor 31, and a fifth brushless motor 32, respectively, wherein the second brushless motor 29 and the fourth brushless motor 31 rotate clockwise, and the third brushless motor 30 and the fifth brushless motor 32 rotate counterclockwise (as shown in fig. 3). Because four rotors are symmetrically distributed at four corners, the opposite rotation directions of the rotors are the same, and the rotation directions of the rotors are opposite, the additional moments generated by the rotors can be mutually offset, and the sum of the moments in the horizontal direction is zero, so that the all-region detection robot is in a balanced state when flying in the air. The flight control panel 20 changes the rotating speed of 4 brushless motors through the brushless motor electronic speed regulating system 12 to realize the difference of the lifting force, thereby controlling the flight state of the all-region resource detection robot.

As shown in fig. 1, 2, 12, 13 and 14, the underwater driving device 38 includes a first underwater propeller 6 and a second underwater propeller 41. The 4 first underwater propellers 6 in this embodiment are identical in structure and function, and the 4 second underwater propellers 41 are identical in structure and function. The first underwater vehicle 6 and the second underwater vehicle 41 have the same internal structure (as shown in fig. 13), but different external hull structures and locations. The first underwater propeller 6 is fixedly connected to the lower part of the tail end of the flying support 16, and the second underwater propeller 41 is fixedly connected to the foot connecting piece 53 of the conversion mechanical foot 46. The direct current motors 47 which drive the propellers 54 to rotate inside the first underwater thruster 6 and the second underwater thruster 41 are connected to the single chip microcomputer control system 17 through circuits, and the single chip microcomputer control system 17 controls the rotating speed of the direct current motors 47 to achieve that the propellers 54 generate different thrust forces. As shown in fig. 13 and 14, the first underwater propeller 6 is composed of a dc motor 47, a ducted propeller 52, and a rotating shaft sealing device 58, wherein a rotating shaft of the dc motor 47 is provided with a screw thread, a hub 59 of the ducted propeller 52 is provided with an internal screw thread engaged with the rotating shaft of the dc motor 47, and the dc motor 47 is further fixed by a hub cap 60 after being screwed with the ducted propeller 52. A rotating shaft sealing device 58 is arranged between the ducted propeller 52 and the shell of the direct current motor 47, so that the direct current motor 47 can be prevented from being interfered by liquid when the all-terrain robot moves underwater. The ducted propeller 52 includes a propeller 54 and a duct 57, the duct 57 is fixed to the blade tip 64 of the propeller blade 62 and rotates together with the propeller 54, and the ducted propeller 52 can provide a larger thrust and has a higher propulsion efficiency than a free propeller.

As shown in fig. 1, 5, 12, 13 and 14, the single chip microcomputer control system 17 controls the lower ligament 66 to contract and relax the upper ligament 65 through the circuit, so that the flying support 16 is in a stable balanced state in the horizontal direction, and at this time, the first underwater propeller 6 can generate thrust in the vertical direction. After the single chip microcomputer control system 17 controls the first underwater propeller 6 to be started through the circuit, the direct current motor 47 inside the first underwater propeller 6 drives the propeller 54 to rotate, and the pressure difference generated by the rotation of the propeller 54 in water enables the all-region detection robot to obtain vertical and upward thrust, so that the underwater ascending motion of the all-region resource detection robot is realized. After the single-chip microcomputer control system 17 controls the first underwater propeller 6 to be closed through a circuit, the direct current motor 47 in the first underwater propeller 6 does not drive the propeller 54 to rotate to generate thrust, and at the moment, the all-region resource detection robot depends on the gravity of the robot to realize the submergence motion in water. When the direct current motor 47 inside the first underwater thruster 6 drives the propeller 54 to rotate and generate thrust equal to the self gravity of the all-terrain resource detection robot, the all-terrain resource detection robot keeps balance in the vertical direction underwater. The single chip microcomputer control system 17 controls the lower ligament 66 to relax the upper ligament 65 through the circuit, and the flying support 16 is folded upwards in the horizontal direction at the second joint shaft 51 (as shown in fig. 5), so that the first underwater propeller 16 can generate thrust in the horizontal direction. The single chip microcomputer control system 17 controls the direct current motor 47 inside the first underwater propeller 6 to drive the propeller 54 to rotate through a circuit, so that the all-region detection robot obtains horizontal upward thrust, and the underwater left-right translation motion of the all-region detection robot is realized. The single chip microcomputer control system 17 controls the rotation of the first self-locking motor 10 through a circuit to control the rotation of the foot connecting piece 53, so as to control the direction of the thrust generated by the second underwater propeller 41 on the foot connecting piece 53. When the single chip microcomputer control system 17 controls the second underwater propeller 41 to be in the horizontal direction, the direct current motor 47 inside the second underwater propeller 41 drives the propeller 54 to rotate to generate horizontal thrust, so that the resource detection robot in all regions moves forward and backward in the horizontal direction when moving underwater. In summary, the thrust generation principle of the second underwater propeller is the same as that of the first underwater propeller, and is not described here again), the all-terrain resource detection robot can realize multi-degree-of-freedom movement underwater according to the movement superposition principle.

As shown in fig. 1, 8 and 9, the land driving device 37 includes a foot 24 and a first self-locking motor 10 for driving the foot 24 to rotate, and the all-terrain resource detecting robot can realize two different movement modes by means of the land driving device 37. One is as follows: after the single chip microcomputer control system 17 controls the first self-locking motor 10 to rotate through circuit signals so that the supporting legs 11 of the feet 24 touch the ground, the single chip microcomputer control system 17 controls the conversion mechanical feet 46 to move alternately through the circuit signals so as to walk. The second step is as follows: after the all-terrain resource detection robot lands, the single chip microcomputer control system 17 controls the first self-locking motor 10 to rotate through a circuit, and the foot connecting piece 53 fixedly connected to the rotating shaft of the first self-locking motor 10 drives the supporting legs 11, the second underwater propeller 41 and the hub 42 to rotate and alternately make frictional contact with the ground, so that the all-terrain resource detection robot can move forwards and backwards during land movement. The single chip microcomputer control system 17 controls the leg 33 of the conversion mechanical foot 46 to move in two degrees of freedom, namely horizontal and vertical, so as to control the direction of the all-terrain resource detection robot moving on the land. According to different operation environments, workers can select the walking mode of the all-region detection robot on the land.

The working process of the invention is as follows:

the all-terrain resource detection robot is placed on the horizontal ground, and the detection robot stands on the ground because the foot 24 of the detection robot is provided with the supporting leg 11 with the three-dimensional pressure sensor 9. At this time, the region-wide resource exploration robot starts to perform land exploration. In the barrier-free area, the circuit of the singlechip control system 17 controls the first self-locking motor 10 to rotate, and the first self-locking motor 10 drives the foot connecting piece 53 to rotate so that the wheel hub 42 lands. Then the singlechip control system 17 controls the second self-locking motor 43 to rotate the hub 42 by a circuit, so that the all-region resource detection robot moves in an obstacle-free region; in the region with the obstacle, the singlechip control system 17 controls the first self-locking motor 10 to enable the foot connecting piece 53 to rotate, and the supporting legs 11, the second underwater propellers 41 and the hubs 42 which are fixedly connected to the foot connecting piece 53 are in friction contact with the ground alternately along with the rotation of the foot connecting piece 53, so that the walking of the all-terrain resource detection robot in the region with the obstacle is realized.

The staff controls the whole region resource detection robot through the data connection of the remote control board and the flight control board 20 so as to control the brushless motor in the air driving device 36 to start the rotor wing 5, the single chip microcomputer control system 17 detects that the whole region resource detection robot leaves the ground through the three-dimensional pressure sensor 9, then the first self-locking motor 10 is automatically closed, and the whole region resource detection robot is turned to the air detection through the land detection. When the ultrasonic height-fixing module 19 detects that the feet 24 of the all-terrain resource detection robot are completely submerged, the singlechip control system 17 controls the first self-locking motor 10 to drive the foot connecting piece 53 to rotate, so that the nozzle of the second underwater propeller 43 is vertically downward, and meanwhile, the singlechip control system 17 starts the second underwater propeller 41. When the thrust generated by the second underwater propeller 41 and the gravity of the all-terrain resource detection robot reach a balance, the worker turns off the brushless motor through the remote control board, and the singlechip control system 17 detects that the speed of the brushless motor in the aerial driving device 36 is reduced to zero through the encoder 2, and controls the second hemispherical compression-resistant waterproof cover 55 to be closed. After the second hemispherical compression-resistant waterproof cover 55 is completely closed, the singlechip control system 17 controls the second underwater propeller 41 to reduce the rotating speed of the propeller 54 so as to reduce the thrust, so that the all-terrain resource detection robot gradually submerges into water, meanwhile, the singlechip control system 17 starts the first underwater propeller 6, and the all-terrain resource detection robot turns to underwater detection from aerial detection. After the all-terrain resource detection robot measures the distance to the target through the infrared distance measuring device 14, data are transmitted to a computer of a worker through the first wireless transceiver module 44 on the oval platform 25, the worker controls the all-terrain resource detection robot to advance on the land, fly in the air and sail underwater through the remote control board in a safe area, a picture shot by the wireless camera 8 is transmitted to the worker through the first wireless transceiver module 44 after the all-terrain resource detection robot approaches the target, the worker makes specific analysis according to the picture, electric quantity required by the whole device is provided by the power module 18, and the area and the target are detected according to the mode.

The beneficial technical effects brought by the invention are as follows:

the robot has the advantages of light structure, strong driving capability, high automation degree and wide detection range, can carry out comprehensive detection in the air, sea areas and land, can prevent workers from entering dangerous working environment, effectively ensures the safety of the workers, effectively solves the problems of high manual detection strength, low efficiency, high cost, insufficient driving capability, unknown danger and the like, and greatly widens the working range of the robot.

It should be noted that in the embodiments of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for convenience of describing the embodiments, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.