Swimming and walking combined underwater operation robot and control method thereof
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An underwater operation and robot technology, applied in the direction of program control manipulators, manipulators, motor vehicles, etc., can solve the problems of heavy weight and poor navigation stability.
Inactive Publication Date: 2017-08-29
NORTHWESTERN POLYTECHNICAL UNIV
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[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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Embodiment 1
[0056] Embodiment 1: A walking hybrid underwater working robot using bionic blade legs and its control method
[0057] Refer to attached figure 1 , a walking mixed underwater robot is characterized in that: it comprises a polypropylene frame (1), a floating body module (2), a steel hanger (3), a camera and lighting device, a front-view image sonar (5), Depth and height integrated sensor (6), control sealed cabin (7), swimming driving device (8), binocular vision positioning device (9), walking and driving device (10), and operation expansion module (11), etc. .
[0058] Refer to attached figure 2 and 3 , the polypropylene frame (1) is a polypropylene material, the main body consists of four beams (111, 112, 113, 114), two propeller support plates (121, 122), two side plates (131, 132) , control the parts such as the rear baffle plate of the sealed compartment, the positioning device support (151) and the camera support (153, 154, 155). The four beams (111, 112, 113, 114)...
Embodiment 2
[0074] Embodiment 2: An underwater working robot and its control method adopting omnidirectional wheel walking and mixing
[0075] Refer to attached figure 1 , a walking mixed underwater robot is characterized in that: it comprises a polypropylene frame (1), a floating body module (2), a steel hanger (3), a camera and lighting device, a front-view image sonar (5), Depth and height integrated sensor (6), control sealed cabin (7), swimming driving device (8), binocular vision positioning device (9), walking and driving device (10), and operation expansion module (12), etc. . Refer to attached Figure 8 , except that the side panels (133, 134) of the polypropylene frame, the walking and driving device (10) and the operation expansion module (12) are identical to the first embodiment.
[0076] The polypropylene frame (1) is made of polypropylene material, and the main body consists of four beams (111, 112, 113, 114), two propeller support plates (121, 122), two side plates (133...
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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...
Claims
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