4934results about "Underwater equipment" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

The disclosure provides a method and system for trajectory tracking control of a vehicle-manipulator coupling system with finite time prescribed performance. Specifically, a coupling weaken trajectory planning method is designed to reduce the system's coupling effects. A finite time performance function is designed to constrain the trajectory tracking error. In a case the constraint conditions corresponding to the finite time performance function are satisfied, the trajectory tracking error is converted to obtain a transformed error. The sliding mode surface is designed based on the transformed error to control the transformed error to converge in a finite time, and the external disturbance of the vehicle-manipulator coupling system is observed based on non-linear disturbance observer. The control input of the vehicle-manipulator coupling system is designed based on the sliding mode surface and the non-linear disturbance observer output. This ensures that the vehicle-manipulator coupling system can operate precisely along the desired trajectory.

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention relates to the technical field of underwater vehicle drainage, and discloses an air and carbon dioxide linkage drainage device and an underwater vehicle, the air and carbon dioxide linkage drainage device comprises a power unit, an air unit, a pressure reduction unit and a flow guide assembly, and the power unit is provided with a first storage cavity; the first storage chamber is used for storing liquid carbon dioxide, the air unit is provided with a second storage chamber, the second storage chamber is used for storing high-pressure air, the pressure reduction unit is provided with a pressure reduction chamber, the first air inlet is communicated with the pressure reduction chamber, the first air outlet is communicated with the water ballast space, and a first heating source is arranged in the second storage chamber; the heating source is suitable for generating heat after receiving the signal so as to heat the air stored in the second storage chamber. The technical problems that in the air release process and when the air is in contact with water, the temperature is reduced, so that the volume of the air is reduced, and the drainage capacity of the air and carbon dioxide linkage drainage device is reduced are solved.

The invention relates to the technical field of structure inspection, in particular to a bridge pier underwater structure inspection system based on an unmanned underwater robot, which comprises an inspection period adjustment module, an anomaly recognition module, an automatic supplementary shooting module, a damage evaluation module and a bridge pier anomaly evaluation module. According to the invention, bridge pier underwater structure inspection is executed through the unmanned underwater robot, the inspection period is dynamically adjusted according to the traffic flow, fine management of inspection work is realized, the inspection frequency can be adjusted according to actual use conditions and external influence factors, potential structure problems are effectively prevented and found, and the inspection efficiency is improved. The damage area can be quickly and accurately calibrated by image acquisition and automatic anomaly recognition performed by the unmanned robot, supplementary shooting is performed when necessary, the image quality is improved, the data reliability is ensured, and the influence of damage on the structural safety can be accurately evaluated by comparing the positions and overlap ratios of the damage area and the key bearing area of the bridge pier, so that the safety of the bridge pier is improved. And a scientific basis is provided for maintenance decision.

The invention relates to the technical field of aircrafts, in particular to a built-in compressed air and carbon dioxide linkage drainage system and an aircraft. The drainage system comprises a drainage device, a water ballast tank, a first connecting pipeline and a control unit, a first storage cavity for storing liquid carbon dioxide is formed in the first power unit, a second storage cavity for storing high-pressure air is formed in the second power unit, and a pressure reduction cavity is formed in the pressure reduction unit; the first storage chamber and the second storage chamber are both selectively communicated with the pressure reduction chamber; the water ballast tank is provided with a third storage chamber selectively communicated with the pressure reduction chamber; the first connecting pipeline is connected with the second power unit and the pressure reduction unit, and a first on-off valve is arranged on the first connecting pipeline; the first power unit is suitable for converting liquid carbon dioxide into high-pressure supercritical carbon dioxide under the control of the control unit, and the high-pressure supercritical carbon dioxide enters the third storage chamber after being decompressed by the decompression chamber, so that the first connecting pipeline selectively communicates with the second storage chamber and the decompression chamber.

This disclosure provides an adaptive STSMC hierarchical control method for depth tracking of an underwater vehicle. The method includes: using an adaptive line-of-sight guidance algorithm to estimate the vehicle's angle of attack in real time and obtain an expected pitch angle; employing a nonlinear interference observer based on a sliding mode surface error to detect unknown interference; and applying an STSMC controller with adaptive saturation compensation to determine the expected control rudder angle from the sliding mode surface error, the expected pitch angle, and the observed interference. The adaptive saturation compensation corrects the rudder angle based on the saturation deviation, which is determined by the previously calculated expected control rudder angle and the actual output rudder angle at the previous moment. By introducing an adaptive saturation compensator in the dynamic control layer, the issue of rudder angle saturation is mitigated, thereby enhancing both control performance and stability.

The invention relates to the technical field of underwater vehicles, in particular to a modular supercritical carbon dioxide phase change drainage device and an underwater vehicle. The modular supercritical carbon dioxide phase change drainage device comprises a plurality of power unit sets, a plurality of pressure reduction units and a flow guide assembly, each power unit set comprises a plurality of power units, each power unit is provided with a first storage cavity, and the first storage cavity is used for storing liquid carbon dioxide; the plurality of pressure reduction units are in one-to-one correspondence with the plurality of power unit groups, each pressure reduction unit is provided with a pressure reduction chamber, the pressure reduction chambers selectively communicate with the corresponding first storage chambers, and the pressure reduction chambers of the plurality of pressure reduction units communicate with one another; the flow guide assembly is provided with a first air inlet and a first air outlet, the first air inlet communicates with at least one of the multiple pressure reduction cavities, and the first air outlet communicates with the water ballast space. The modular supercritical carbon dioxide phase change drainage device is small in occupied space, safe, efficient and high in drainage capacity.

The invention relates to a multi-mode self-adaptive underwater propeller and a control method thereof, and the multi-mode self-adaptive underwater propeller comprises an information collection module which comprises a sonar sensor, a magnetic sensor, an inertia measurement unit and a water pressure sensor; the data analysis module receives the multi-source data from the information acquisition module and generates a unified environment state model through a multi-source information fusion algorithm; the mode switching module is used for calculating the risk level of the current operation state based on a preset comprehensive evaluation index and selecting a corresponding operation mode according to the risk level; the power adjusting module is used for adjusting the power output characteristics of the propeller according to the selected operation mode; and the redundant fault-tolerant module is configured with a standby sensor group and switching logic, and when the main sensor group is interfered or breaks down, the standby sensor group is automatically started and the environment state model is recalculated.

According to the present invention, it is possible to improve the effects such as search tasks when searching for an object by a plurality of systems. 【Solution means】The present invention is a control system for searching for an object in a predetermined first area using a plurality of mobile bodies, and is obtained from a cooperation system capable of measuring a second area including at least a part of an area outside the first area. Based on the acquired information, an object information interpretation unit that interprets object information regarding an object existing in the second area, and based on the object information, an entry prediction information generation unit that generates entry prediction information regarding the predicted content of the object entering the first area from an area outside the first area, and the entry prediction information generated by the object movement prediction unit, or information regarding a mobile body movement command for some or all of the plurality of mobile bodies generated by the mobile body movement determination unit based on the entry prediction information, and an information output unit that performs display output or transmits to the outside.

The invention belongs to the technical field of deep-sea mining environment assessment, and particularly relates to an autonomous multi-mode mining plume and redeposition thickness monitoring system and method, and the system comprises an autonomous underwater unmanned submersible and detection load equipment connected with the autonomous underwater unmanned submersible. The autonomous underwater unmanned submersible is used for carrying detection load equipment, providing electric energy for the detection load equipment, sending a control instruction to the detection load equipment, preprocessing received data returned by the detection load equipment, and sending an equipment state to the mother ship in real time, so that the mother ship can monitor the autonomous underwater unmanned submersible in real time; the detection load equipment is used for synchronously carrying out deep sea near-bottom mining plume and redeposition thickness monitoring in three detection modes of acoustics, optics and hydrology, carrying out multi-category data comparison and fusion in the same time coordinate system, and sending the collected data to the autonomous underwater unmanned submersible; and data support is provided for later deep-sea mining plume and redeposition simulation modeling.

The invention discloses a drilling-grouting integrated underwater robot and aims to meet the requirement for precise operation in a complex underwater environment. The robot integrates the fin antenna, the hydraulic telescopic crawler belt, the hydrodynamic force wings, the bionic mechanical arm and the integrated drilling and injecting system, and has the multi-terrain adaptation, efficient navigation and autonomous operation capacity; through modular design and a high-strength pressure-resistant structure, the robot can complete tasks such as pipeline repair, resource exploration and infrastructure construction in a deep sea high-pressure environment; the core technology comprises a multi-mode propulsion system, intelligent sensing and navigation, AI optimization operation and dual-mode operation switching. Typical application scenes include submarine pipeline damage repair, deep sea mining area reinforcement sampling, cross-sea bridge pile foundation grouting and the like. The limitation that a traditional underwater robot is single in function and high in energy consumption is broken through, and the safety and efficiency of complex underwater engineering are remarkably improved.

A control system for a towed object (1, 6; 20; 30; 50) in or on a body of water comprise one or more towing members (3) extending between the object (1) and a towing vessel (2). One or more ballast members (4) are movably connected to a respective one of said one or more towing members (3) and controllably movable at least a distance along its respective towing member. The towed object (1) may be controlled by moving one or more ballast members (4) on a towing member (3) in order to control the catenary (c) of a towing member (3). Individual ballast members (4) may be manipulated individually in order to correct, preserve or otherwise change the geometry of a trawl.

A visual information application method and apparatus, and a pool cleaning robot. The method comprises: 201, acquiring visual information collected by a pool cleaning robot; 202, controlling the pool cleaning robot on the basis of the visual information; or 203, processing the visual information on the basis of a preset mode.

The invention provides a multi-mode underwater detection robot. The robot comprises a body section assembly formed by connecting a plurality of cabin pipe assemblies and power cabin assemblies in series. Joints between the cabin pipe assemblies are connected through joint connecting pieces (7); a steering engine joint piece (3) is arranged at the joint connecting piece, a propeller propelling device (4) is arranged at the power cabin assembly, and when the underwater posture and the propelling working condition of the robot are adjusted, a steering engine of the steering engine joint piece applies force to the joint connecting piece to change the included angle of the joint connecting piece, so that the body section assembly is twisted, and the posture of the robot is converted into different modes; the propelling direction of the propeller propelling device is changed; the problems that an existing underwater robot is single in mode, incapable of adapting to complex environments, low in energy efficiency, difficult in structure maintenance and poor in function expansion capacity can be solved.

The invention particularly relates to an underwater vehicle multi-energy hybrid energy storage system and a coordinated energy management strategy. The system comprises a lithium ion battery, a super capacitor and a fuel cell applying a proton exchange membrane which are respectively connected to a direct current bus. The method for coordinating the energy management strategy comprises the following steps: acquiring a current motion parameter and a current energy parameter of an underwater vehicle; inputting the current motion parameter, the current energy parameter and the expected navigational speed into a load prediction model based on a BP neural network, and estimating the expected total power at the next moment; and determining a corresponding action strategy according to the current operation mode of the underwater vehicle, and performing power distribution on the expected total power based on the action strategy. According to the scheme, the hybrid energy system can perform smooth working mode switching and optimal power distribution under different working conditions.

The invention discloses a method for completing an autonomous deep-sea exploration task by a deep-sea cross-domain unmanned aerial vehicle. The method comprises the following steps: determining a target area; taking off to a specified height from the sea level, receiving a task execution command and then flying to a target area; when the relative distance between the current position and the coordinates of the target area reaches a preset value, descending; when it is detected that the device is contacted with seawater, the device dives through gravity; when it is detected that the set depth is reached, the propeller is restarted, and the detection task is executed; after the detection task is completed, the standby battery is rejected and ascends; after leaving the water surface, rising to a specified height and switching to a homeward flight mode; and when the deep-sea cross-domain unmanned aerial vehicle is within the sight distance range, a manual landing task is executed. The invention further discloses the deep-sea cross-domain unmanned aerial vehicle. According to the unmanned aerial vehicle and the method, autonomous switching operation between an air medium and an underwater medium can be realized, and the unmanned aerial vehicle has the capability of autonomously completing detection and water body sampling in an extreme deep sea environment.

Disclosed is crawling device for underwater inspection robots used on dams. The crawling device includes at least one set of wheeled leg mechanisms, an angle adjusting mechanism and a length adjusting mechanism, wherein an upper end of the length adjusting mechanism is connected with a robot; the wheeled leg mechanism includes a shell, adhesion units and a crawling wheel arranged under the shell; the adhesion unit includes a suction cup, which is arranged under the shell and adheres to a dam surface through negative pressure suction; the length adjusting mechanism is used for adjusting a distance between the wheeled leg mechanism and a robot body; and the angle adjusting mechanism is used for adjusting an angle of the wheeled leg mechanism with respect to a horizontal dam surface.

The invention provides a deep sea self-melting type reconfigurable robot system, and belongs to the field of robots. The system comprises a main control module, a vertical pushing module, a side pushing module and an assembling module. The assembling module can recognize the marine environment to be operated, and then the main control module, the vertical pushing module and the side pushing module are subjected to modular reconstruction based on the marine environment to form the robot so as to execute marine work. The vertical pushing module, the side pushing module and the main control module are connected in a magnetic attraction connection mode, the main control module is used for providing electric energy for the vertical pushing module and the side pushing module, the vertical pushing module is provided with a vertical pushing propeller and a first control unit, and the rotating speed and the rotating direction of the vertical pushing propeller are adjusted by the first control unit; the side thrust module is provided with a side thrust thruster and a second control unit, and the rotating speed and the rotating direction of the side thrust thruster are adjusted by the second control unit. The robot can be assembled into robots of different configurations through the assembly module when facing different scenes and work tasks so as to adapt to different environments.

The present invention discloses a pectoral fin steering bionic fish driven by a dual-half-gear mechanism. The head of the fish comprises an outer shell formed by two interlocking shells, which is an asymmetrical structure with a waterproof cavity formed inside. Pectoral fins are arranged on either side of the outer shell, and a pectoral fin control mechanism for controlling the rotation of the pectoral fins is located within the waterproof cavity. The tail is formed by assembling a multi-section skeleton. A dual-half-gear tail swing mechanism for controlling the swing of the tail fin is located within the skeleton. The skeleton is covered with waterproof fish skin. The dual-half-gear tail swing mechanism includes a main shaft, two spaced-apart half-gears connected to the main shaft, and a rocker arm. The rocker arm has a mating gear, which is connected to a sleeve arm that is inserted into the rocker arm to form a linear bearing structure. The sleeve arm extends rearwardly through a pin to connect to the skeleton. The dual-half-gear mechanism and the linear bearing structure transmit swinging power to control the swing of the fish tail. The present invention utilizes a dual-half-gear tail swing mechanism to control tail swinging, resulting in high mechanical transmission efficiency, high control accuracy, and the ability to perform relatively complex motions.

The submarine cable laying robot comprises a main body frame, a buoyancy adjusting device is arranged at the top of the main body frame, spiral propellers are arranged on the two sides of the main body frame respectively, a cable pressing device and two spraying devices are arranged at the bottom of the main body frame, and the two spraying devices are symmetrically arranged at the bottom of the main body frame. The cable pressing device is arranged corresponding to the two spraying devices; the spiral propeller is used for driving the submarine cable laying robot to walk on the seabed, the buoyancy adjusting device is used for adjusting the buoyancy of the submarine cable laying robot on the seabed, and the two spraying devices are used for digging cable burying grooves with the corresponding depths in the corresponding positions of submarine cables in the mode of spraying high-pressure liquid. And the cable pressing device is used for pressing the cable into the cable burying groove. The device has the universality of different cable burying depth operations and the universality of different seabed geological operations, the operation efficiency and safety are improved, and the cost and the risk are reduced.

According to the underwater propeller control method based on multi-parameter fusion and the related equipment, the autonomous decision-making ability and adaptability of the underwater propeller in different environments are improved, more intelligent and more efficient control is achieved, and therefore the overall stability of the underwater propeller can be improved. The method comprises the steps that the water flow velocity and regional terrain information of a target region where the underwater propeller is located are collected; a three-dimensional flow field real-time sensing model is established based on the water flow velocity and the regional topographic information, and multi-modal data are acquired according to the three-dimensional flow field real-time sensing model and comprise the water flow velocity, the water flow pressure, the water flow intensity, the three-dimensional topographic coordinates and the topographic height of a target region; carrying out dispersion filtering on the multi-modal data and then fusing the multi-modal data to obtain target multi-modal data; and constructing a multi-modal neural network model through a time sequence attention mechanism based on the target multi-modal data.

The invention discloses an underwater robot with a splicing function and a method thereof, and belongs to the field of underwater robots, the underwater robot comprises a waterproof shell, a sensing module, a main control module, a power supply module and a rotary splicing module; the sensing module is used for environment sensing, the main control module is used for decision control, the power supply module provides energy support, the rotary splicing module is a core module of the robot, a rotary telescopic mechanism comprising a rotary shaft telescopic arm and a limiting rotor is creatively provided, and the rotary telescopic mechanism can be matched with limiting grooves in waterproof shells of other single robots. And splicing of the underwater robot is realized. According to the scheme of combining the underwater robot through the rotary splicing mechanism, independent operation or group operation can be selected according to the use scene, the combination shape can be switched during group operation to meet the task requirement, and the group task which cannot be completed by a traditional individual robot is achieved; therefore, the adaptability and execution capability of the underwater robot to complex tasks and environments are improved.

To study a system that transmutes atomic nuclei using muons, devise a light source device and a propulsion device including a nuclear transmutation system, and examine a centrifugal force application unit which may be accelerated by the propulsion device, and devise an electric field generator or a magnetic field generator.SOLUTION: A system is devised that decelerates cosmic muons produced from cosmic rays or high-speed muons derived from mesons produced from atomic collisions with electric field and deceleration means and uses the muons for nuclear transmutation. Also, a decelerator using a laser wake field and a decelerator using an element forming an electric field are proposed. A radiation light source having the nuclear transmutation unit is disclosed. An ionization device, a centrifugal gun device, a centrifugal force and pressure applying device, a pressure generation unit, a pressure applying material, a high-pressure induction superconductivity experimenting system, a magnetic device, and a magnetic sail are disclosed.SELECTED DRAWING: Figure 18

According to the deep and far seawater suspension oil and liquid storage device and the underwater oil storage method thereof, a layered tank body structure is adopted, and a load adjusting cabin, a flexible oil storage cabin and a water storage cabin are arranged from top to bottom. The load adjusting cabin is used for dynamically adjusting the net buoyancy of the device through seawater feeding / discharging to reduce the load of the mooring system; the oil storage cabin adopts a flexible storage bag to adapt to volume change and is linked with the water storage cabin through a movable composite heat preservation partition plate, the partition plate comprises an active heating layer and a phase change material layer, when the oil temperature is too low, the active heating layer directionally heats crude oil, the phase change layer absorbs dissipated heat, latent heat is released during external low-temperature impact to buffer temperature drop, and dynamic temperature control is achieved. The device is moored and fixed through a gravity anchor, and multiple types of sensors are arranged to monitor the posture, stress, oil temperature and leakage state of the tank body in real time. The problems of oil storage tank deformation, high pour point oil heat preservation and mooring stability under the deepwater high-pressure environment are solved, and the device has the advantages of being low in construction cost, high in environmental adaptability and efficient in operation and maintenance and is suitable for safe storage and transportation of deep and far sea oil and gas resources.

The high-reliability separating and combining mechanism is structurally composed of a driving module and a driven module, a rotating disc of the driving module is driven by a driving device to rotate, a center hole of the rotating disc is a first-stage guide groove, and a plurality of arc-shaped guide rails are evenly distributed on the periphery of the first-stage guide groove; a second-stage guide cone is slidably connected to the second-stage guide rod; a plurality of radial sliding grooves are formed in the base, and the bottom of the secondary guide cone slides along the sliding grooves; the passive module is of a cylinder structure, the top end of the cylinder is connected with a first-stage guide cone, and second-stage guide grooves are evenly distributed in the circumference of the cylinder. When the first-stage guide cone is inserted into the first-stage guide groove, the driving device drives the rotating disc to rotate, and the second-stage guide cone moves along the arc-shaped guide rail and the sliding groove and is inserted into the second-stage guide groove. According to the opening and closing mechanism, a complex sensing and control system is replaced with mechanical structure guiding and physical limiting, and the opening and closing mechanism has the advantages of being high in butt joint precision, reliable in opening and closing, simple in structure, low in cost, easy to maintain and the like.

The invention relates to the technical field of ocean engineering and hydrological observation equipment, and discloses a self-powered hydrological detection device self-adaptive to seabed erosion and deposition changes, comprising a self-powered system comprising a vertical shaft eccentric helical blade, a rotor cross bar and a rotor vertical shaft, the bottom of the rotor vertical shaft is connected with a power generation module, and the bottom of the rotor vertical shaft is connected with a power supply module; the two rotor cross rods are sequentially arranged on the outer wall of the rotor vertical shaft from top to bottom, the outer walls of the three vertical shaft eccentric spiral blades are installed on the rotor cross rod triangles respectively, and the power generation module is electrically connected with an energy management unit. Through linkage control of the terrain adaptability system and the LSTM prediction model, on one hand, dynamic adjustment of the anchoring depth of the support can be achieved, and instrument displacement or burying is avoided; on the other hand, overall lifting and oblique movement of the device can be achieved, and equipment recovery and detection position conversion are facilitated; and meanwhile, an ocean current-temperature difference complementary power generation and intelligent energy storage system is adopted, so that five-year maintenance-free continuous power supply is realized.

The invention belongs to the technical field of underwater operation, and relates to a maintenance device for a lower hinged support of a dock gate and a construction method thereof. The device comprises a waterproof cover box, a diving barge, a hoisting system and a drainage assembly, the waterproof cover box comprises a cover body and a channel well, openings are formed in the bottom and the top of the cover body, the bottom face of the cover body is in sealed compression joint with the surrounding structure of the lower hinged support to be maintained, the channel well is connected to the opening in the top of the cover body in a sealed mode, and the top face of the channel well is higher than the water surface. The diving barge is provided with a plurality of hydraulic supporting legs capable of ascending and descending so that the diving barge can be supported in the horizontal door pit. The hoisting system comprises a tower frame and an arm frame which are arranged on the diving barge, and one end of the arm frame is located above the cover body and connected with the cover body in a pressing mode; the drainage assembly comprises a submersible pump and a drainage pipe, the submersible pump is arranged in the cover body, one end of the drainage pipe is connected with the submersible pump, and the other end is led to the water surface through the channel well. According to the method, a stable dry operation environment can be rapidly constructed at the dock gate lower hinged support to be maintained, rapid maintenance is achieved, pollution to a sea area is avoided, and operation safety is improved.

The invention provides an underwater static pressure self-balancing visual touch perception device and method. The device comprises an elastic body, a hexagonal tray, a light source, a camera, a protective cover, a base, a water inlet pipe, a water outlet pipe and a computer. The elastomer is used for contacting an object, and a plurality of micron-sized through holes for balancing internal and external water pressure are formed in the surface; the elastomer is arranged on the inner side of the hexagonal tray, and the RGB three-color light source is arranged on the outer side to realize uniform distribution of light; the camera collects a light intensity image reflected by the elastomer; the protective cover is fixedly connected to the base and used for isolating external light and fixing the hexagonal tray. A camera is mounted on the base; the computer is used to model the acquired images or videos as different haptic features.