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

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...

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 underw

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