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A robot suitable for underwater cruising and seabed crawling and its control method

A robot and control unit technology, applied in transportation and packaging, underwater operation equipment, ships, etc., can solve the problems of complex seabed terrain, harsh environment, difficult to recover, etc., and achieve accurate mobile operation ability and stability against ocean currents for large-scale activities Ability, strong environmental adaptability and high stability

Active Publication Date: 2020-04-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] (1) Existing roving underwater robots have strong mobility, diverse functions, fast moving speed, and wide operating range, but they cannot meet the needs of stable work in large depths and complex environments
Especially in the deep-sea hydrothermal areas with great research and development value, the submarine terrain is complex, the ocean currents are strongly disturbed, and the environment is harsh. The shortcomings of traditional roving underwater robots are becoming increasingly prominent.
[0004] (2) The existing crawler-type underwater robots are mainly crawler-type and wheel-type, which have high stability, high operation and movement precision, but have slow moving speed, small range of motion, inflexible steering, and weak obstacle-crossing ability , not easy to recycle and other disadvantages

Method used

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  • A robot suitable for underwater cruising and seabed crawling and its control method
  • A robot suitable for underwater cruising and seabed crawling and its control method
  • A robot suitable for underwater cruising and seabed crawling and its control method

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Effect test

Embodiment 1

[0057] like Figure 1 to Figure 13 As shown, the embodiment of the present invention provides a robot suitable for water cruising and seabed crawling, including a water cruising module and a seabed crawling module. Among them, the water cruising module includes a left wing 8, a right wing 6, a front horizontal airtight cabin 7, a rear horizontal airtight cabin 12, an electronic cabin 9, a vertical thruster 10, a left longitudinal suction and discharge cabin 11, a right longitudinal suction Drainage compartment 5 and horizontal differential propeller 13.

[0058] like figure 1 , image 3 and Figure 4 As shown, the left wing board 8 and the right side wing board 6 of the water cruise module are parallel and oppositely arranged. The front horizontal airtight cabin 7 and the rear horizontal airtight cabin 12 are arranged horizontally, and are arranged at intervals between the left side panel 8 and the right side panel 6. The front horizontal box 7 and the rear horizontal box ...

Embodiment 2

[0078] The present invention also provides a robot system suitable for cruising in water and crawling on the bottom of the sea, such as Figure 14 As shown, the system includes a host computer and at least one robot suitable for water cruising and seabed crawling described in any one of the above-mentioned embodiments.

[0079] Among them, the upper computer includes input devices (such as keyboards, mice, joysticks, etc.) and output devices (such as monitors, etc.), the upper computer is connected with the control unit of the robot through an umbilical cable, and is used for manipulator input by the input device according to the user. The commands generate robot operation instructions and send them to the control unit of the robot, and the control unit is used to generate corresponding control instructions according to the received robot operation instructions. That is, the user can input operator commands through the host computer to control the underwater robot to execute v...

Embodiment 3

[0084] The present invention also provides a control method for a robot suitable for underwater cruising and seabed crawling, using the above-mentioned robot system suitable for water cruising and seabed crawling, including underwater cruising mode and seabed crawling mode.

[0085] Among them, the underwater cruise mode includes:

[0086] S1. The robot acquires external environment information and feeds back to the host computer, and the host computer receives and displays the external environment information of the robot in real time. The external environment change information here includes the underwater video captured by the underwater camera (i.e., the horizontal direction camera 19, the vertical direction camera 20) and / or the underwater sensing information obtained by the underwater sensing device, such as depth, position, etc. .

[0087] S2. The user controls the floating movement of the robot through the host computer according to the external environment informatio...

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Abstract

The invention relates to a robot suitable for underwater cruising and seabed crawling. The robot comprises an underwater cruising module and a seabed crawling module; the underwater cruising module comprises a left wing panel, a right wing panel, a front horizontal sealed cabin, a rear horizontal sealed cabin, an electronic cabin, a vertical thruster, a left longitudinal suction and drain tank, aright longitudinal suction and drain tank and a horizontal differential thruster; the seabed crawling module comprises a support structure and a plurality of mechanical legs; the underwater cruising module is arranged on the support structure; and each mechanical leg surrounds the support structure, and one ends of the mechanical legs are rotatably connected with the support structure. The robot can cruise quickly in the ocean or crawl stably on the seabed, and integrates the high-efficiency and wide-range mobile abilities of a cruising type underwater robot and the precise mobile operation ability and the anti-ocean-current ability of a crawling type underwater robot.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a robot suitable for underwater cruising and seabed crawling and a control method. Background technique [0002] Since the beginning of the 21st century, countries around the world have vigorously carried out scientific research, economic and military activities to explore, develop and utilize the deep sea, and the most important equipment for ocean investigation, detection and operation is underwater robots. According to the movement mode, underwater robots can be divided into two categories: cruise underwater robots (ROV and AUV, etc.) and crawling underwater robots. At present, the advantages and disadvantages of these two types of underwater robots are as follows: [0003] (1) Existing roving underwater robots have strong maneuverability, diverse functions, fast moving speed, and wide operating range, but they cannot meet the needs of stable work in large depths and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52
CPCB63C11/52
Inventor 果立成郝留磊孙锐坚孙新杨李宇琨万育麟贾鹏飞
Owner HARBIN INST OF TECH
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