Bionic underwater robot capable of swimming and walking by being driven based on same mechanism and control method of bionic underwater robot

Abstract

The invention relates to the field of underwater robots, and provides a bionic underwater robot capable of swimming and walking by being driven based on the same mechanism and a control method of thebionic underwater robot. The bionic underwater robot capable of swimming and walking by being driven based on the same mechanism comprises a shell, a control sealed cabin, a buoyancy adjusting deviceand a bionic four-foot leg swimming and walking device. The shell comprises a tail buoyancy block, a front buoyancy block, a bottom plate, a right rear mounting plate, a right front mounting plate, aleft front mounting plate and a left rear mounting plate. The control sealed cabin and the buoyancy adjusting device are mounted on the bottom plate and are located between the tail buoyancy block andthe front buoyancy block. The bionic four-foot leg swimming and walking device comprises bionic duck webs, a left front bionic four-foot leg, a right front bionic four-foot leg, a right rear bionic four-foot leg and a left rear bionic four-foot leg. According to the bionic underwater robot, front-and-back and steering swimming in the horizontal plane and sinking and emerging motion in the vertical face can be achieved, front-and-back and steering walking can also be achieved on complex sea bottom terrain, the structure is simple, and cost is low.

Description

technical field [0001] The invention belongs to the field of underwater robots. Specifically, based on the principle of imitating quadruped walking and duck-web swimming, it relates to a bionic underwater robot driven to swim based on the same mechanism 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, my country is vigorously carrying out activities such as aquaculture, seabed resource mining, and construction of submarine facilities; in terms of marine security, my country is continuously improving its capabilities in underwater early warning, underwater minehunting, and underwater explosive discharge. The development of these activities and the improvement of capabilities are inseparable from robots that perform underwater operations on the seabed. [0003] Under ...

AI Technical Summary

Problems solved by technology

The advantage of this method is that the mechanism is simple and the control is easy. The disadvantage is that the mechanism is too complex and large, which reduces the reliability of the robot and greatly increases the cost of the robot.

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