Underwater robot and method for moving the same

Abstract

The application discloses an underwater robot and a moving control method thereof, and relates to the technical field of underwater robots. The underwater robot comprises a robot main body, a rotating mechanism and a crawling mechanism. The rotating mechanism has a fixed part and a rotating part which can rotate along the axis extending in the left-right direction relative to the fixed part. The fixed part is arranged on the robot main body. The crawling mechanism comprises a crawling arm and a moving structure movably arranged on the crawling arm. The moving structure can drive the crawling arm to move along the length direction of the crawling arm. One end of the crawling arm in the length direction is connected to the rotating part, so that the crawling arm has a climbing step state. In the climbing step state, the crawling arm can be rotated to protrude forward and upward from the robot main body, so as to be lapped on the step surface in front and upward of the robot main body. The technical scheme is provided to improve the moving ability of the underwater robot.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to an underwater robot and its motion control method. Background Technology

[0002] Underwater robots are devices used for underwater operations. For example, underwater cleaning robots are mainly used for automated cleaning, dredging, and maintenance of underwater environments. Depending on the application scenario, they are mainly divided into three categories: pool cleaning, industrial cleaning (ships / pipelines), and underwater dredging.

[0003] Most current underwater robots move using left and right lateral movement motors in conjunction with tracks.

[0004] In existing technologies, conventional underwater robots are often blocked by steps in scenarios, making it difficult for them to cross the steps and limiting their mobility, which affects the cleaning of the steps and the recovery of the robot. Summary of the Invention

[0005] The main objective of this invention is to propose an underwater robot and its motion control method, which aims to improve the mobility of the underwater robot.

[0006] To achieve the above objectives, the present invention proposes an underwater robot comprising: Machine body; A rotating mechanism having a fixed portion and a rotating portion capable of rotating relative to the fixed portion along an axis extending in a left-right direction, the fixed portion being disposed on the machine body; and, A crawling mechanism includes a crawling arm and a movable structure movably mounted on the crawling arm. The movable structure can drive the crawling arm to move along the length direction of the crawling arm. One end of the crawling arm in the length direction is connected to the rotating part. The crawling arm has a step-climbing state. In this state, the crawling arm can rotate to protrude forward and upward from the machine body to engage with the step surface located in front and above the machine body.

[0007] In one embodiment, the crawling arm also has a movable state in which the other end of the crawling arm in its length direction can rotate to the rear end of the machine body and is fixed relative to the machine body, and the movable structure is used to abut against the movable plane.

[0008] In one embodiment, the movable structure includes: A drive unit is disposed on the crawler arm; Two pulleys are rotatably connected to the crawling arm and distributed along the length of the crawling arm, one of the pulleys being drive-driven to the drive unit; and, The track is stretched between the two pulleys.

[0009] In one embodiment, the crawling arm includes: Side plates, the tracks being located around the periphery of the side plates; and, Two mounting parts are used to rotatably connect the two pulleys respectively; The side plate or the mounting part is connected to the rotating part.

[0010] In one embodiment, the underwater robot further includes a skateboard or a roller assembly, which is disposed at the bottom of the main body of the robot to assist in guiding the main body of the robot to move along the length direction of the main body of the robot.

[0011] In one embodiment, the machine body includes: A housing having a mounting port, through which the rotating mechanism passes to connect the rotating part to the crawling arm; the housing forming a propulsion channel with a rearward-facing nozzle; and... A pump body is disposed within the propulsion channel to allow water to be sprayed backward from the nozzle.

[0012] In one embodiment, the rotating mechanism is located on the front side of the housing; and / or, The water nozzle is located on the rear side of the housing.

[0013] In one embodiment, the underwater robot includes two rotating mechanisms, which are correspondingly connected to two crawling mechanisms, and the two crawling mechanisms are located on opposite sides of the robot body in the left-right direction.

[0014] This invention also proposes a motion control method for an underwater robot, applicable to underwater robots, the motion control method comprising the following steps: After the underwater robot moves to the step, the rotating mechanism is controlled to rotate the crawling arm so that it protrudes forward and upward from the main body of the machine to attach to the step surface and support the front of the main body of the machine. The tilt angle of the machine body and / or the rotation angle of the crawling arm are obtained as angle parameters, and it is determined whether the angle parameters meet the crawling angle conditions. If the angle parameter satisfies the climbing angle condition, then control the moving structure to work, so that the machine body follows the climbing arm to move onto the step; The underwater robot includes: Machine body; A rotating mechanism having a fixed portion and a rotating portion capable of rotating relative to the fixed portion along an axis extending in a left-right direction, the fixed portion being disposed on the machine body; and, A crawling mechanism includes a crawling arm and a movable structure movably mounted on the crawling arm. The movable structure can drive the crawling arm to move along the length direction of the crawling arm. One end of the crawling arm in the length direction is connected to the rotating part to have a step-climbing state. Corresponding to the step-climbing state, the crawling arm can rotate to protrude forward and upward from the machine body to engage with the step surface located in front and above the machine body.

[0015] In one embodiment, the machine body has a propulsion channel, and a pump body is provided in the propulsion channel for spraying water backward from the propulsion channel; After obtaining the angle parameters and determining whether the climbing angle condition is met, the process further includes: If the angle parameter satisfies the climbing angle condition, the pump body is controlled to work, so that the machine body moves to the step following the climbing arm.

[0016] In this technical solution, the main body of the underwater robot serves as the mounting carrier for its various functional components, providing a foundation for the rotating mechanism, crawling mechanism, and other components. The fixed part of the rotating mechanism is fixedly connected to the main body, and the rotating part can rotate around its left-right axis. The crawling arm is connected to the rotating part at one end along its length, allowing it to change its angle under the influence of the rotating part. The moving structure can drive the crawling arm to move along its length. Existing underwater robots often struggle to autonomously traverse underwater steps. This solution addresses this problem by using the rotating mechanism to adjust the crawling arm to a step-climbing position and attach it to the upper front step surface. The moving structure then drives the crawling arm to move relative to the step surface, propelling the main body up the stairs. This solves the problem of underwater robots being unable to autonomously climb steps, improves the robot's mobility, and expands its operational range. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 A first-angle perspective view of an embodiment of the underwater robot provided by the present invention; Figure 2 A second perspective perspective view of an embodiment of the underwater robot provided by the present invention; Figure 3A third-angle perspective view of an embodiment of the underwater robot provided by the present invention; Figure 4 A schematic diagram of the crawling mechanism in one embodiment of the underwater robot provided by the present invention; Figure 5 A schematic diagram of the propulsion channel in one embodiment of the underwater robot provided by the present invention; Figure 6 A schematic diagram of the rotating mechanism in one embodiment of the underwater robot provided by the present invention; Figure 7 A schematic diagram illustrating the steps of climbing stairs in one embodiment of the underwater robot provided by the present invention; Figure 8 This is a flowchart illustrating the motion control method for an underwater robot provided by the present invention.

[0019] Explanation of icon numbers: 1. Machine body; 11. Shell; 111. Propulsion channel; 112. Spray nozzle; 12. Pump body; 13. Collection box; 14. Brush body; 2. Rotating mechanism; 21. Fixed part; 22. Rotating part; 3. Crawling mechanism; 31. Crawling arm; 311. Side plate; 312. Mounting part; 32. Moving structure; 321. Drive component; 322. Pulley; 323. Track; 4. Roller assembly.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, and back), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0024] Underwater robots are devices used for underwater operations. For example, underwater cleaning robots are mainly used for automated cleaning, dredging, and maintenance of underwater environments. Depending on the application scenario, they are mainly divided into three categories: pool cleaning, industrial cleaning (ships / pipelines), and underwater dredging.

[0025] Most current underwater robots move using left and right lateral movement motors in conjunction with tracks.

[0026] In existing technologies, conventional underwater robots are often blocked by steps in scenarios, making it difficult for them to cross the steps and limiting their mobility, which affects the cleaning of the steps and the recovery of the robot.

[0027] Based on the above problems, this invention proposes an underwater robot.

[0028] Please see Figures 1 to 4 , Figure 6 In one embodiment of the present invention, the underwater robot includes a main body 1, a rotating mechanism 2, and a crawling mechanism 3. The rotating mechanism 2 has a fixed part 21 and a rotating part 22 that can rotate relative to the fixed part 21 along an axis extending in the left and right direction. The fixed part 21 is disposed on the main body 1. The crawling mechanism 3 includes a crawling arm 31 and a movable structure 32 movably mounted on the crawling arm 31. The movable structure 32 can drive the crawling arm 31 to move along the length direction of the crawling arm 31. One end of the crawling arm 31 in the length direction is connected to the rotating part 22. The crawling arm 31 has a step-climbing state. In this state, the crawling arm 31 can rotate to protrude forward and upward from the main body 1 to overlap the step surface located in front and above the main body 1.

[0029] In this technical solution, the main body 1 serves as the mounting carrier for the various functional components of the underwater robot, providing a mounting foundation for components such as the rotating mechanism 2 and the crawling mechanism 3. The fixed part 21 of the rotating mechanism 2 is fixedly connected to the main body 1, and the rotating part 22 can rotate around the left-right axis. The crawling arm 31 is connected to the rotating part 22 at one end in its length direction, and its angle can be changed under the action of the rotating part 22. The moving structure 32 can drive the crawling arm 31 to move along its length direction. Existing underwater robots often struggle to autonomously traverse underwater steps. This solution uses the rotating mechanism 2 to rotate and adjust the crawling arm 31 to a step-climbing state, allowing it to engage with the step surface above and in front. The moving structure 32 then drives the crawling arm 31 to move relative to the step surface, propelling the main body 1 to climb. This solves the problem of underwater robots being unable to autonomously climb steps, improves the underwater robot's mobility, and expands its operational range.

[0030] In practical implementation, the material of the machine body 1 can be, for example, titanium alloy or engineering plastic; the rotation angle range of the rotating mechanism 2 can be, for example, 0° to 270° or 0° to 360° to meet the needs of different climbing methods; the length of the crawling arm 31 can be, for example, 50cm or 80cm to adapt to steps of different heights. The rotating mechanism 2 can include, for example, a motor or a rotating hydraulic cylinder; the crawling mechanism 3 can include, for example, rollers or tracks 323. One or more rotating mechanisms 2 and crawling mechanisms 3 can be provided, and they can be provided on the front side of the machine body 1 or simultaneously on the front and rear sides.

[0031] Please see Figure 3 In one embodiment, the crawling arm 31 also has a movable state. In the movable state, the other end of the crawling arm 31 in its length direction can rotate to the rear end of the machine body 1 and is fixed relative to the machine body 1. The movable structure 32 is used to abut against the movable plane.

[0032] In this technical solution, the moving state refers to the state of the crawler arm 31 when the underwater robot is moving on flat ground or a gentle area. At this time, the crawler arm 31 rotates to the rear end of the robot body 1 and maintains an angle relative to the robot body 1, so that the moving structure 32 is stably in contact with the moving plane, thereby driving the underwater robot to move. By setting the moving state of the crawler arm 31, this solution allows the underwater robot to maintain a compact structure when making normal movements on the moving plane, reducing underwater travel resistance, improving movement efficiency, and at the same time avoiding collisions between the crawler arm 31 and surrounding obstacles.

[0033] In practice, the crawler arm 31 and the machine body 1 remain relatively fixed while in motion. This can be achieved through servo motor control, snap-fit ​​connection, or magnetic connection. Snap-fit ​​connection provides stability, while magnetic connection is convenient to operate. During movement, the bottom of the moving structure 32 is lower than the height of the machine body 1, so as to abut against the moving plane.

[0034] Please see Figures 1 to 4 In one embodiment, the moving structure 32 includes a drive member 321, two pulleys 322 and a track 323; the drive member 321 is disposed on the crawling arm 31; the two pulleys 322 are rotatably connected to the crawling arm 31 and distributed along the length of the crawling arm 31, and one of the pulleys 322 is connected to the drive member 321 in a driving manner; the track 323 is stretched between the two pulleys 322.

[0035] In this technical solution, the drive component 321 serves as the power source for the moving structure 32, and the pulley 322 supports and drives the track 323. The large contact area between the track 323 and the step surface increases the friction, improving climbing stability. Existing underwater robots are prone to slippage and insufficient power during climbing. This solution utilizes the large contact area of ​​the track 323 to increase friction with the step surface, and the drive component 321 drives the pulley 322 to rotate, thus driving the track 323. This effectively ensures that the crawling arm 31 drives the main body 1 to climb stably, improving the reliability of the climbing process and reducing the risk of slippage.

[0036] In practical implementation, the drive component 321 can be, for example, a waterproof motor or a hydraulic motor. A waterproof motor is suitable for shallow water environments, while a hydraulic motor offers strong power and is suitable for deep water environments. The drive component 321 can drive the pulley 322 via gears or a transmission belt. The pulley 322 can be made of, for example, stainless steel or high-strength nylon. The track 323 can be made of, for example, rubber or polyurethane. Rubber offers high friction, while polyurethane is wear-resistant and durable. The surface of the track 323 can be provided with anti-slip textures or protrusions to increase friction with the steps.

[0037] Please see Figures 1 to 4 In one embodiment, the crawler arm 31 includes a side plate 311 and two mounting portions 312; the track 323 is located on the periphery of the side plate 311; the two mounting portions 312 are used to rotatably connect two pulleys 322 respectively; wherein the side plate 311 or the mounting portion 312 is connected to the rotating portion 22.

[0038] In this technical solution, the side plate 311 is the main support structure of the mounting part 312. The mounting part 312 is used to connect the pulley 322, which better ensures the stable rotation of the pulley 322 and the track 323. By connecting the side plate 311 or the mounting part 312 to the rotating part 22, a stable connection between the crawling arm 31 and the rotating mechanism 2 is achieved, reducing the swaying or falling off of the crawling arm 31 during climbing and improving the reliability of the overall structure.

[0039] In specific implementation, a plate or roller can be installed on the side plate 311 to support the inner side of the track 323; the mounting part 312 can include a solid shaft or a hollow tube, and the connection between the mounting part 312 and the pulley 322 can be, for example, a bearing connection or a shaft hole connection; the connection between the side plate 311 or the mounting part 312 and the rotating part 22 can be, for example, a bolt connection or welding. The driving component 321 is disposed on the side plate 311.

[0040] Please see Figures 1 to 4 In one embodiment, the underwater robot also includes a skateboard or roller assembly 4, which is disposed at the bottom of the robot body 1 to assist in guiding the robot body 1 to move along the length direction of the robot body 1.

[0041] In this technical solution, the sliding plate is a smooth plate-like structure at the bottom of the machine body 1, and the roller assembly 4 is a rolling structure composed of multiple roller assemblies 4. This solution reduces the frictional resistance between the machine body 1 and the step surface when climbing stairs by setting the sliding plate or roller assembly 4, thereby improving the efficiency of the machine body 1 when climbing stairs.

[0042] In practice, the skateboard material can be, for example, polytetrafluoroethylene (PTFE) or ultra-high molecular weight polyethylene (UHMWPE). PTFE has an extremely low coefficient of friction, while UHMWPE is wear-resistant. The rollers of roller assembly 4 can be made of, for example, rubber or ceramic. The number of rollers in roller assembly 4 can be, for example, 4 or 6. Roller assembly 4 can be set in one or more groups in the left-right direction.

[0043] Please see Figures 3 to 5 In one embodiment, the machine body 1 includes a housing 11 and a pump body 12; the housing 11 has a mounting port, and the rotating mechanism 2 passes through the mounting port so that the rotating part 22 is connected to the crawling arm 31; the housing 11 forms a propulsion channel 111, and the water nozzle 112 of the propulsion channel 111 is arranged rearward; the pump body 12 is disposed in the propulsion channel 111 so that the propulsion channel 111 sprays water rearward from the water nozzle 112.

[0044] In this technical solution, the shell 11 is the external protective structure of the main body 1, and the mounting port provides a channel for the connection between the rotating part 22 and the crawling arm 31; the propulsion channel 111 is the channel for water flow, and the spray nozzle 112 is set to the rear. When the pump body 12 is working, it sprays water backward from the propulsion channel 111, using the reaction force to provide forward thrust for the main body 1. This solution uses the reaction force generated by the water sprayed by the pump body 12 to assist the movement of the main body 1, and in conjunction with the crawling mechanism 3, improves the power and efficiency of the underwater robot when climbing stairs.

[0045] In specific implementation, the material of the housing 11 can be fiberglass or aluminum alloy, for example. Fiberglass is corrosion resistant and lightweight, while aluminum alloy has high strength. The shape of the propulsion channel 111 can be, for example, tapered or cylindrical. The type of pump body 12 can be, for example, a centrifugal pump or an axial flow pump. The fixing part 21 of the rotating mechanism 2 can be directly fixed to the mounting port or fixed inside the housing 11.

[0046] In one embodiment, the rotating mechanism 2 is located on the front side of the housing 11; in another embodiment, the spray nozzle 112 is located on the rear side of the housing 11. Either of these two embodiments can be used, or both can be used simultaneously.

[0047] In this technical solution, the rotating mechanism 2 is located on the front side of the housing 11, allowing the crawling arm 31 to be closer to the front end of the main body 1, facilitating the rapid rotation of the crawling arm 31 to the step surface for connection and shortening the climbing preparation time. The water spray nozzle 112 is located on the rear side of the housing 11, allowing the point of application of the thrust reaction force to be closer to the center of gravity of the main body 1, thus better ensuring the stability of the main body 1 when climbing steps. This solution optimizes the step-climbing performance of the underwater robot and improves the overall stability and efficiency of the operation by rationally arranging the positions of the rotating mechanism 2 and the water spray nozzle 112.

[0048] In the specific implementation process, the connection between the rotating mechanism 2 and the front part of the housing 11 can be, for example, bolted connection or welding; the housing 11 can be an integral structure or a split structure. For example, the installation method between the water nozzle 112 part of the propulsion channel 111 and the rear part of the housing 11 can be, for example, bolted connection or integral molding.

[0049] In one embodiment, the underwater robot includes two rotating mechanisms 2, which are connected to two crawling mechanisms 3 respectively, and the two crawling mechanisms 3 are located on opposite sides of the robot body 1 in the left-right direction.

[0050] In this technical solution, a crawling mechanism 3 and a rotating mechanism 2 are set on each of the left and right sides of the underwater robot. This allows the underwater robot to receive support and power from both sides simultaneously when climbing stairs, ensuring the uniformity of force on the main body 1 and preventing tilting or tipping due to unilateral force. The cooperation of the two crawling mechanisms 3 on both sides improves the stability of the climbing process. At the same time, when moving on flat ground, the two crawling mechanisms 3 can move synchronously, improving the smoothness of movement and facilitating directional adjustment.

[0051] In the specific implementation process, the two crawling mechanisms 3 can move synchronously or independently. Synchronous movement can better ensure uniform force distribution, while independent movement can enable the underwater robot to turn. The rotation angles of the two rotating mechanisms 2 can be adjusted synchronously or separately.

[0052] In one embodiment, the underwater robot further includes at least one of an angle sensor and an angle encoder; the angle sensor is disposed on the main body 1 to detect the angle of the main body 1 relative to the horizontal direction; the angle encoder is disposed on the rotation mechanism 2 to detect the relative rotation angle between the fixed part 21 and the rotating part 22; the underwater robot further includes a controller disposed on the main body 1, the controller being electrically connected to at least one of the angle sensor and the angle encoder, the rotation mechanism 2 and the moving structure 32.

[0053] In this technical solution, an angle sensor is used to monitor the tilt angle of the machine body 1, an angle encoder is used to monitor the rotation angle of the rotating part 22, and a controller, as the control core, receives angle data and controls the movement of the rotating mechanism 2 and the moving structure 32. This solution acquires angle data through the angle sensor and angle encoder, and the controller automatically adjusts the angle of the crawling arm 31 and the movement of the moving structure 32 to achieve climbing, thus improving climbing efficiency and stability.

[0054] In practical implementation, the angle sensor can be, for example, a tilt sensor or a gyroscope sensor; the angle encoder can be, for example, a photoelectric encoder or a magneto-electric encoder; the controller type can be, for example, a PLC controller or a microcontroller controller. PLC controllers offer high stability, while microcontroller controllers are low-cost. In this embodiment, the angle at which the machine body 1 can climb stairs can be determined based on the angle of the machine body 1 relative to the horizontal direction, or based on the relative rotation angle between the fixed part 21 and the rotating part 22. The angle encoder can also be used to adjust the crawler arm 31 to a moving state.

[0055] Please see Figures 3 to 5 In one embodiment, the underwater robot further includes at least one of a collection box 13 and a brush body 14; the main body 1 has a propulsion channel 111, and the propulsion channel 111 has a channel inlet; the collection box 13 is located on the channel inlet side of the propulsion channel 111; the brush body 14 is located at the bottom of the main body 1.

[0056] In this technical solution, the collection box 13 is located on one side of the inlet of the propulsion channel 111. The water flow during the propulsion channel 111 carries underwater debris into the collection box 13, thus collecting the debris. The brush body 14 is located at the bottom of the main body 1 and can clean debris or attached dirt from the underwater surface during movement. This solution expands the underwater robot's operational functions through the collection box 13 and brush body 14, enabling it to complete debris cleaning and collection during movement, improving its practicality and making it suitable for underwater cleaning, river dredging, and other scenarios.

[0057] In practical implementation, the collection box 13 can be made of materials such as stainless steel or plastic. Stainless steel is durable, while plastic is lightweight. The collection box 13 has a filter port that allows water to flow through while trapping underwater dirt. The brush body 14 can be made of materials such as nylon bristles or steel wire bristles. Nylon bristles are suitable for cleaning soft debris, while steel wire bristles are suitable for cleaning hard dirt. The brush body 14 can be a fixed strip brush or a brush roller driven by a motor. The bottom of the housing 11 has a water inlet, and the collection box 13 has a collection port that corresponds to the water inlet. The shape of the collection port can be, for example, funnel-shaped or rectangular.

[0058] Please see Figures 7 to 8 The present invention also proposes a motion control method for an underwater robot. In one embodiment, it is applied to the aforementioned underwater robot, and the motion control method includes the following steps: S100: After the underwater robot moves to the step, control the rotation mechanism 2 to rotate the crawling arm 31 so that the crawling arm 31 rotates forward and upward to protrude from the main body 1 of the robot, so as to attach to the step surface and support the front side of the main body 1. S200: Obtain the tilt angle of the machine body 1 and / or the rotation angle of the crawling arm 31 as angle parameters, and determine whether the angle parameters meet the crawling angle conditions; S300: If the angle parameters meet the climbing angle conditions, the control mechanism 32 is activated, causing the main body 1 to follow the crawling arm 31 to move onto the step. Since this motion control method employs all the technical solutions of all the above-described underwater robot embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0059] In this technical solution, the angle parameters may include at least one of the tilt angle of the robot body 1 and the rotation angle of the crawling arm 31. The climbing angle condition refers to whether the angle parameters meet the set value range. This solution uses standardized control steps to drive the crawling arm 31 through the rotating mechanism 2, so that the crawling arm 31 overlaps the front and upper step surface, using the step surface as a fulcrum to support the front side of the robot body 1. Then, it is determined whether the angle parameters meet the climbing angle condition. When the condition is met, the moving structure 32 is driven to climb, which better ensures the standardization and success rate of the step climbing action and realizes the automated control of underwater robot climbing steps.

[0060] In the specific implementation process, the angle parameters can be obtained, for example, through an angle sensor or an angle encoder. The angle sensor detects the tilt angle of the main body 1 relative to the horizontal plane, and the angle encoder detects the rotation angle of the crawling arm 31 relative to the main body 1. The numerical range of the climbing angle condition can be, for example, a tilt angle of the main body 1 of 30° to 45° or a rotation angle of the crawling arm 31 of 190° to 220°. When the climbing angle condition is met, it is convenient for the underwater robot to climb the steps. The specific numerical range can be set according to the actual size of the steps and the underwater robot.

[0061] In one embodiment, the machine body 1 has a propulsion channel 111, and a pump body 12 is provided in the propulsion channel 111 for spraying water backward from the propulsion channel 111; After obtaining the angle parameters and determining whether the climbing angle conditions are met, the process also includes: S310: If the angle parameter meets the climbing angle condition, control the pump body 12 to work, so that the machine body 1 moves to the step following the climbing arm 31.

[0062] In this technical solution, when the crawling arm 31 drives the robot body 1 to climb, the pump body 12 installed in the propulsion channel 111 sprays water backward to generate a reverse thrust, providing additional power to the robot body 1 and improving climbing efficiency. This reduces the risk of insufficient power when climbing with only the crawling mechanism 3, which may cause climbing to stall when facing higher steps. This solution uses the reverse thrust of the water sprayed by the pump body 12 to assist climbing, thereby improving climbing power, shortening climbing time, and enhancing the underwater robot's ability to climb higher steps.

[0063] In specific implementation, the pump body 12 can be started at the same time as the moving structure 32 or 1 to 2 seconds in advance, ensuring synchronized power coordination and allowing for pre-establishment of thrust. The power adjustment of the pump body 12 can be based on the step height; increasing the power of the pump body 12 when the step height is high provides greater thrust, while decreasing the power of the pump body 12 when the step height is low saves energy. During the step-climbing process, the power of the driving component 321 of the moving mechanism and the pump body 12 can be constant or variable. For example, if the driving component 321 of the moving mechanism is a motor, after the angle parameters meet the climbing angle conditions, the motor gradually increases its power in the initial stage and gradually decreases its power in the final stage. The division between the initial and final stages can be based on time settings or angle parameter settings, such as the first 5 seconds and the last 5 seconds, or the first 30 degrees and the last 30 degrees. Preferably, for example, if the power increases but the angle parameters do not change, the power increase will be increased; for example, normally it increases by 5 to 10W each time, but with increased power increase, it increases by 20 to 30W each time. The pump body 12 operates in the same way as the drive component 321 of the moving mechanism. The power can be constant or variable, which will not be elaborated here. When jamming occurs during the step-climbing process, the drive component 321 of the moving mechanism or the pump body 12 can be controlled to increase the power to relieve the jamming. In actual operation, the jamming phenomenon can be associated with the angle parameter or the step-climbing working time. For example, the jamming judgment condition can be that when the change of the angle parameter within a preset time period is less than a preset change threshold, it is judged as jamming; or when the total time of the step-climbing action exceeds a preset time threshold, it is judged as jamming. During the step-climbing process, only the pump body 12 or only the motor can be used in a certain section to avoid excessive power and affect the posture stability of the machine body 1.

[0064] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An underwater robot, characterized in that, include: Machine body; A rotating mechanism having a fixed part and a rotating part capable of rotating relative to the fixed part along an axis extending in a left-right direction, the fixed part being disposed on the machine body; as well as, A crawling mechanism includes a crawling arm and a movable structure movably mounted on the crawling arm. The movable structure can drive the crawling arm to move along the length direction of the crawling arm. One end of the crawling arm in the length direction is connected to the rotating part. The crawling arm has a step-climbing state. In this state, the crawling arm can rotate to protrude forward and upward from the machine body to engage with the step surface located in front and above the machine body.

2. The underwater robot as described in claim 1, characterized in that, The crawling arm also has a movable state, in which the other end of the crawling arm in its length direction can rotate to the rear end of the machine body and is fixed relative to the machine body, and the movable structure is used to abut against the movable plane.

3. The underwater robot as described in claim 1, characterized in that, The movable structure includes: A drive unit is disposed on the crawler arm; Two pulleys are rotatably connected to the crawling arm and distributed along the length of the crawling arm, one of the pulleys being drive-driven to the drive unit; and, The track is stretched between the two pulleys.

4. The underwater robot as described in claim 3, characterized in that, The crawler arm includes: Side plates, the tracks being located around the periphery of the side plates; and, Two mounting parts are used to rotatably connect the two pulleys respectively; The side plate or the mounting part is connected to the rotating part.

5. The underwater robot as described in claim 1, characterized in that, The underwater robot also includes a skateboard or a set of rollers, which are disposed at the bottom of the main body of the robot to assist in guiding the main body of the robot to move along the length of the main body of the robot.

6. The underwater robot as described in claim 1, characterized in that, The main body of the machine includes: A housing having a mounting port, through which the rotating mechanism passes to connect the rotating part to the crawling arm; the housing forming a propulsion channel with a rearward-facing nozzle; and... A pump body is disposed within the propulsion channel to allow water to be sprayed backward from the nozzle.

7. The underwater robot as described in claim 6, characterized in that, The rotating mechanism is located on the front side of the housing; and / or, The water nozzle is located on the rear side of the housing.

8. The underwater robot as described in claim 1, characterized in that, The underwater robot includes two rotating mechanisms, which are connected to two crawling mechanisms, and the two crawling mechanisms are located on opposite sides of the robot body in the left-right direction.

9. A method for controlling the movement of an underwater robot, characterized in that, Applied to any one of claims 1 to 8, the motion control method includes the following steps: After the underwater robot moves to the step, the rotating mechanism is controlled to rotate the crawling arm so that it protrudes forward and upward from the main body of the machine to attach to the step surface and support the front of the main body of the machine. The tilt angle of the machine body and / or the rotation angle of the crawling arm are obtained as angle parameters, and it is determined whether the angle parameters meet the crawling angle conditions. If the angle parameter satisfies the climbing angle condition, the moving structure is controlled to work, so that the machine body follows the climbing arm to move onto the step.

10. The underwater robot movement control method as described in claim 9, characterized in that, The main body of the machine has a propulsion channel, and a pump body is provided in the propulsion channel for spraying water backward from the propulsion channel; After obtaining the angle parameters and determining whether the climbing angle condition is met, the process further includes: If the angle parameter satisfies the climbing angle condition, the pump body is controlled to work, so that the machine body moves to the step following the climbing arm.

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