A Walking Mixed Bionic Blade Leg and Crawler Combined Walking Underwater Robot and Its Control Method

Abstract

The invention puts forwards a swimming-walking hybrid bionic blade leg and track combined walking underwater robot and a control method of the swimming-walking hybrid bionic blade leg and track combined walking underwater robot. The swimming-walking hybrid bionic blade leg and track combined walking underwater robot comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a motion component, a sensing detection component, a visual positioning device and an operation extension module; the floating body module, the hanging bracket, the control sealed cabin, the motion component, the sensing detection component, the visual positioning device and the operation extension module are all mounted on the frame, and the gravity center of the underwater operation robot is located right under the buoyancy center. By adopting the invention, the underwater operation robot can adapt to operation demands for working faces of different categories and different attitudes, and further can adapt to the demands on omnidirectional mobility and obstacle climbing abilities on the different working faces, thereby being capable of providing technical support to various underwater operation tasks completed by the underwater operation robot.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a walking mixed bionic blade leg and crawler combined walking underwater robot and a control method thereof. Background technique [0002] With the implementation of my country's marine power strategy, both marine economy and marine military have put forward urgent requirements for underwater operating robots. In terms of marine economy, our country is vigorously carrying out activities such as aquaculture, seabed resource exploitation, and seabed facility construction. At the same time, our country is a big country in marine transportation and water conservancy facility construction. Carry out safety performance testing on water conservancy dams; in terms of marine safety, my country is continuously improving the capabilities of early warning, underwater mine hunting, and underwater detonation of underwater ports. Both require underwater robots to complete cleaning and ...

AI Technical Summary

Problems solved by technology

[0005] However, due to the different requirements for underwater working robots, the working surfaces of underwater working robots are also very different. There are flat working surfaces such as reservoir dams and ship sides, and there are also flat working surfaces such as the seabed and the bottom of ships. non-flat work surface

This requires that the underwater operation robot can not only adapt to the operation requirements of different types and different postures of the working surface, but also can adapt to the requirements of omnidirectional maneuvering and obstacle surmounting ability on different working surfaces. The current underwater operation robot can not be well meet such needs

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