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Swimming and travelling hybrid bionic cutter point leg and all-directional wheel combined underwater operation robot and control method thereof

An underwater operation and robot technology, which is applied to underwater operation equipment, underwater ships, motor vehicles and other directions to achieve precise positioning and improve walking ability.

Active Publication Date: 2017-06-20
NORTHWESTERN POLYTECHNICAL UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 cannot be very good at the same time. meet such needs

Method used

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  • Swimming and travelling hybrid bionic cutter point leg and all-directional wheel combined underwater operation robot and control method thereof
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  • Swimming and travelling hybrid bionic cutter point leg and all-directional wheel combined underwater operation robot and control method thereof

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Embodiment Construction

[0052] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0053] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than ...

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Abstract

The invention provides a swimming and travelling hybrid bionic cutter point leg and all-directional wheel combined underwater operation robot which comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a movement assembly, a sensing detection assembly, a visual positioning device and an operation expansion module. The floating body module, the hanging bracket, the control sealed cabin, the movement assembly, the sensing detection module, the visual positioning device and the operation expansion module are all mounted on the frame, and the gravity center of the underground operation robot is located under the buoyancy center. By adoption of the swimming and travelling hybrid bionic cutter point leg and all-directional wheel combined underwater operation robot, the underwater operation robot can adapt to the operation requirements of working faces of different categories and different postures and the requirements of all-directional maneuvering and the obstacle crossing ability on the different working faces, and therefore technical support is provided for the underwater operation robot to complete all kinds of underwater operation tasks.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an underwater working robot combined with a bionic blade leg combined with omnidirectional wheels 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 com...

Claims

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Application Information

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IPC IPC(8): B63C11/52B63G8/16B63G8/14
CPCB63C11/52B63G8/14B63G8/16
Inventor 严卫生许晖崔荣鑫高剑张福斌张立川
Owner NORTHWESTERN POLYTECHNICAL UNIV
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