Closed-loop control available multifunctional in-water snake-shaped robot

Abstract

The invention discloses a closed-loop control available multifunctional in-water snake-shaped robot which mainly solves the problem that a movement posture of the existing in-water snake-shaped robot cannot be adjusted. The multifunctional in-water snake-shaped robot comprises a snake head (1), a snake tail (2) and a snake body (5), wherein the snake body (5) is formed by alternately connecting a plurality of rigid joints (3) and a plurality of flexible joints (4); the two ends of the snake body (5) are connected with the snake head and the snake tail respectively to form a snake part; a camera (11) is mounted in the snake head (1); a steering engine (51), a master controller (52), a battery pack module (53), a ten-freedom-degree sensor (56), a steering engine controller (57), a solar power charging module (58) and an electric quantity detection module (59) are mounted in the snake body (5); the ten-freedom-degree sensor sends data measured in real time to the master controller for data fusion; and the master controller controls the steering engine through the steering engine controller, so as to adjust a movement posture of the snake part. The multifunctional in-water snake-shaped robot can be used for oil pipeline inspection, drilling platform underwater structure overhaul and military reconnaissance, and has the advantages that the multifunctional in-water snake-shaped can correct the movement posture of the snake part, can detect the air tightness of the snake part, and can be charged by solar power.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a multifunctional underwater snake-shaped robot equipped with various sensors and capable of closed-loop control, which can be used for oil pipeline inspection, drilling platform underwater structure inspection, military reconnaissance, cable inspection, Underwater archaeology, marine aquaculture and dam inspection of rivers and reservoirs and other fields. Background technique [0002] The underwater environment is harsh, people's diving depth is limited, and the safety factor of manned submersibles is low, so unmanned remote control submersibles have become an important tool in the fields of oil pipeline inspection, reservoir sewage inspection, underwater archaeology, marine breeding, military reconnaissance, etc. . However, traditional unmanned remote-controlled submersibles have certain limitations. Most of them are torpedo-shaped and bulky, driven by turbines. This shape not...

AI Technical Summary

Problems solved by technology

However, most of the existing underwater snake robots focus on the mechanical structure of the joint module, and their functions are relatively single, and the charging problem when working in water is rarely considered, resulting in low battery life and limited continuous working time. Therefore, real-time acquisition and feedback of the motion posture of the robot cannot be carried out, so that the motion posture of the robot cannot be adjusted in time, so that when the water flow changes, the direction of travel is easy to change, which affects the normal monitoring and leads to the effect of bad

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