Swimming and walking combined underwater operation robot and control method thereof

Abstract

The invention discloses a swimming and walking combined underwater operation robot and a control method thereof. The robot comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a moving component, a sensing and probing component, a vision localization device and an operation extension module, wherein the floating body module, the hanging bracket, the control sealed cabin, the moving component, the sensing and probing component, the vision localization device and the operation extension module are mounted on the frame; and the gravity center of the robot is positioned below a buoyant center. The swimming and walking combined underwater operation robot can be adapted to the operation demands of different types and different postures of working faces and can also adapted to the demands of omnibearing maneuvering and obstacle crossing ability on different working faces, thus the walking capacity, on the working faces, of the underwater operation robot is improved, and the underwater operation robot can be adapted to the demands of more application sites.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a walking-mixing underwater working 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 safety inspections. If these tasks a...

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 walking mixed operation robot cannot meet such needs well

In addition, the existing underwater walking mixed working robots usually adopt a cuboid metal frame structure, which has a large weight and poor navigation stability.

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