Hybrid power type underwater humanoid robot

Abstract

The invention relates to a hybrid power type underwater humanoid robot which comprises a trunk module, leg modules, flippers, a buoyancy adjusting module, an inflation bottle, a sensing module and a control module. The leg modules can swing in the left-right direction and the front-back direction of the trunk module relative to the trunk module. The buoyancy adjusting module comprises a buoyancy air bag set and an inflation and deflation control mechanism. The robot further comprises an underwater propelling module, the underwater propelling module comprises an upper propeller and a lower propeller, the upper propeller is installed on the trunk module, and the lower propeller is installed on the leg modules. The control module is in control connection with the upper thruster and the lower thruster. A leg motion detection assembly in the sensing module is arranged on a leg module, can obtain the motion condition of the leg module and can obtain the angle relation of the propelling force of a lower propeller relative to the trunk module; and the total buoyancy center of the buoyancy air bag group is always in a buoyancy center fluctuation space range when the buoyancy air bag group is inflated and deflated.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a composite-powered underwater humanoid robot. Background Art

[0002] The number of offshore resource mining platforms, offshore ranching platforms, offshore photovoltaic and wind power platforms, and various large ships is increasing day by day, and they have entered the maintenance period. The production, construction, and maintenance tasks of these platforms are affected by the harsh marine environment, and the development of surface platform maintenance equipment and technology has entered a technical bottleneck period. At present, this type of production and maintenance operations are too dependent on manual operation. The window period for water operations is short and the risk of falling is high due to the influence of wind, waves and currents. At the same time, it is difficult for personnel to maintain stable positioning during underwater operations. Therefore, underwater robots used for underwater operations are becoming more and more important. With the continuous research, innovation and application of autonomous underwater robots, the complexity of the tasks undertaken by autonomous underwater robots is becoming higher and higher, and the requirements for autonomous underwater robots are also becoming higher and higher.

[0003] At present, many underwater robots usually use thrusters to navigate and turn underwater, and control buoyancy by inflating air bags to achieve sinking and floating control. For example, the underwater robots provided in patents with application numbers CN202410042358.4 and CN202410133592.8 use symmetrical six or eight thrusters to achieve 4 degrees of freedom while keeping the robot horizontal and stable. However, this design makes it difficult to achieve complex posture control of the robot and meet the needs of complex underwater operations. The patent with application number CN202410801374.7 discloses an underwater webbed humanoid robot based on pneumatic buoyancy control. The buoyancy size and center of buoyancy are changed by the buoyancy airbag group of the buoyancy adjustment module, and the hydrodynamic force generated by the fins on the legs is used to control the robot's posture and movement underwater. The robot has good operational capabilities, but the robot of this design generates power through the legs and the fins on them, and the power is limited. It is suitable for small-scale activities and has a low swimming speed. Therefore, it is not suitable for long-distance swimming. There are usage restrictions, and it is difficult to achieve rapid adjustment of the robot's posture. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the technical problem to be solved by the present invention is to provide a composite-powered underwater humanoid robot, which can achieve flexible underwater movement through a composite power system of buoyancy control, vector thrusters and fin swinging, and can form rapid motion vector control underwater, thereby realizing the robot system's rapid transition capability and posture adjustment capability.

[0005] To achieve the above-mentioned purpose, the present invention provides a composite-powered underwater humanoid robot, comprising a trunk module, a leg module, a fin, a buoyancy adjustment module, an inflatable bottle, a sensing module and a control module; the inflatable bottle is fixedly mounted on the trunk module; the leg module is connected to the trunk module, and a fin is connected to the bottom, the leg module can move and drive the fin to generate hydrodynamic force; the leg module can swing relative to the trunk module in the left and right directions and the front and back directions of the trunk module; the buoyancy adjustment module comprises a buoyancy airbag group and an inflation and deflation control mechanism, the buoyancy airbag group is mounted on the trunk module, and comprises a plurality of airbags, the inflation and deflation control mechanism connects the airbags and the inflatable bottle; the sensing module The module includes a leg motion detection component; the control module is communicatively connected to the perception module, and the control module is control-connected to the leg module and the buoyancy adjustment module respectively; it also includes an underwater propulsion module, and the underwater propulsion module includes an upper propeller and a lower propeller, the upper propeller is installed on the trunk module, and the lower propeller is installed on the leg module; the control module is control-connected to the upper propeller and the lower propeller respectively; the leg motion detection component is arranged on the leg module, and can obtain the motion status of the leg module, and can obtain the angular relationship of the propulsion force of the lower propeller relative to the trunk module; the total buoyancy center of the buoyancy airbag group is always within a buoyancy center fluctuation space range when inflating and deflating.

[0006] Furthermore, there are two upper thrusters, which are symmetrical about the middle plane of the trunk module in the left and right directions. The propulsion force of the upper thrusters is along the up and down directions of the trunk module. There are also two leg modules, and each leg module is equipped with a lower thruster.

[0007] Further, the upper thruster is arranged at the top of the back of the torso module.

[0008] Furthermore, the upper thruster has forward thrust and reverse thrust functions, and the upper thruster provides thrust through the rotation of blades, and when both upper thrusters are in forward thrust or reverse thrust, the rotation directions of the blades of the two are opposite.

[0009] Furthermore, the lower thruster has forward thrust and reverse thrust functions, and the lower thruster provides thrust through the rotation of blades, and when both lower thrusters are in forward thrust or reverse thrust, the rotation directions of the blades of the two are opposite.

[0010] Furthermore, the buoyancy airbag group comprises three airbags, namely a main buoyancy airbag, a left airbag and a right airbag. The front side of the main buoyancy airbag is close to the rear back side of the torso module, and the left airbag and the right airbag are respectively arranged in the left half area and the right half area of ​​the rear side of the main buoyancy airbag.

[0011] Furthermore, the left airbag and the right airbag are both connected to the rear side of the main buoyancy airbag through an adhesive structure.

[0012] Furthermore, the buoyancy adjustment module also includes an airbag group mounting frame, which includes a left bracket and a right bracket fixedly connected to the torso module, and an elastic connecting restraint belt arranged between the left bracket and the right bracket, and the left and right sides of the buoyancy airbag group extend into the accommodating cavities of the left bracket and the right bracket respectively, and the elastic connecting restraint belt is pressed against the rear side of the buoyancy airbag group.

[0013] Furthermore, the inflation and deflation control mechanism of the buoyancy adjustment module includes a main air source pipe, a main exhaust pipe, and a plurality of inflation and deflation units, each of which is used to inflate and deflate an air bag. The main air source pipe is connected to the inflation bottle, and the inflation and deflation unit includes an intake solenoid valve and a deflation solenoid valve. The inlet of the intake solenoid valve is connected to the main air source pipe through a pipeline, and the outlet is connected to the air bag through a pipeline. The inlet of the intake solenoid valve is connected to the air bag through a pipeline, and the outlet is connected to the main exhaust pipe through a pipeline; the control module is respectively controlled and connected to the intake solenoid valve and the deflation solenoid valve.

[0014] Furthermore, the leg module includes a hip joint mechanism, a thigh link, a knee joint mechanism, a calf link, an ankle joint mechanism and a foot end flange, the upper end of the thigh link is connected to the trunk module through the hip joint mechanism, and the hip joint mechanism can drive the thigh link to swing in the front-to-back direction and the left-to-right direction relative to the trunk module; the lower end of the thigh link is connected to the upper end of the calf link through the knee joint mechanism, and the knee joint mechanism can drive the calf link to rotate around the G rotation axis relative to the thigh link, and the G rotation axis is perpendicular to the thigh link axis; the foot end flange is connected to the lower end of the calf link through the ankle joint mechanism, and the ankle joint mechanism can drive the foot end flange around the H rotation axis, and the H rotation axis is perpendicular to the calf link axis; the fin is fixedly connected to the foot end flange; the control module is respectively controlled and connected to the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism; the lower thruster is fixedly installed on the thigh link.

[0015] Furthermore, the calf connecting rod includes a calf upper rod, a calf lower rod, and a calf swivel joint connecting the calf upper rod and the calf lower rod, and the calf swivel joint can drive the calf upper rod and the calf lower rod to rotate relative to each other.

[0016] As described above, the composite power underwater humanoid robot according to the present invention has the following beneficial effects:

[0017] 1. Flexible underwater movement is achieved through a composite power system consisting of the controllable buoyancy of the buoyancy airbag group, the adjustable thrust of the underwater propulsion module, and the swing of the fins. When moving over long distances and over a large range, the propeller of the underwater propulsion module is used to achieve this, and the propulsion angle can be flexibly adjusted to form rapid motion vector control underwater, which can drive the robot to move quickly and achieve rapid transitions.

[0018] 2. The robot's state estimation and motion trajectory control are realized through the control module and the perception module. The system has edge computing capabilities to support motion planning optimization and task decision-making.

[0019] 3. The buoyancy control module can quickly adjust the robot's underwater buoyancy and create neutral buoyancy, thereby optimizing the power consumption of the underwater thruster and the stability of the fin propulsion.

[0020] 4. It adopts a humanoid double-arm structure topology. Each arm module has the movement ability of bionic shoulders, elbows, and wrists. Through joint torque perception and motion control, it realizes underwater double-arm collaboration ability, completing complex tool manipulation and operation tasks while avoiding mechanical damage to underwater collaborative personnel and equipment caused by the robotic arm; the leg module has bionic movement ability of the hip, knee, and ankle joints. Combined with fins, it can restore various kicking gaits of scuba diving to the greatest extent, thereby enabling the robot to achieve underwater hovering, forward, backward, left deviation, right deviation, left roll, right roll and other actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the composite-powered underwater humanoid robot of the present invention.

[0022] Figure 2 It is a schematic diagram of the structure of a humanoid body composed of a torso module, an arm module and a leg module in the present invention.

[0023] Figure 3 It is a schematic diagram of the structure of the leg module in the present invention.

[0024] Figure 4 It is a schematic diagram of the structure of the arm module in the present invention.

[0025] Figure 5 It is a schematic diagram of the installation of the underwater propulsion module in the present invention.

[0026] Figure 6 It is a schematic diagram of the structure of the buoyancy airbag group in the present invention.

[0027] Figure 7 It is a schematic diagram of the herringbone arrangement of the buoyancy airbag group in the present invention.

[0028] Figure 8 It is a schematic diagram of the arrangement of the airbag assembly mounting frame in the present invention.

[0029] Fig. 9 It is a structural schematic diagram of the deflation control mechanism in the present invention.

[0030] Fig.10 It is a schematic diagram of the arrangement of the gas cylinder suspension assembly in the present invention.

[0031] Description of Figure Numbers

[0032] 1 Torso module

[0033] 2 Leg Modules

[0034] 21 Hip joint mechanism

[0035] 211 Hip joint first joint

[0036] 212 Hip Second Joint

[0037] 213 Hip Rod

[0038] 214 Hip Flange

[0039] 22 Thigh Link

[0040] 23 Knee joint mechanism

[0041] 24 Calf connecting rod

[0042] 241 Calf Swing

[0043] 242 Calf Downswing

[0044] 243 Lower leg swivel joint

[0045] 25 Ankle joint mechanism

[0046] 26 Foot end flange

[0047] 3 Arm Module

[0048] 31 Shoulder joint mechanism

[0049] 311 Shoulder joint first joint

[0050] 312 Shoulder Joint Connecting Rod

[0051] 313 Second shoulder joint

[0052] 32 Upper arm link

[0053] 33 Elbow joint mechanism

[0054] 34 Forearm connecting rod

[0055] 35 Wrist joint mechanism

[0056] 351 First wrist joint

[0057] 352 Second wrist joint

[0058] 36 Arm end flange

[0059] 4 Flippers

[0060] 5 Buoyancy adjustment module

[0061] 51 Buoyancy airbag set

[0062] 511 Main Buoyancy Bag

[0063] 512 Left airbag

[0064] 513 Right Airbag

[0065] 514 Glued structure

[0066] 52 Airbag assembly mounting bracket

[0067] 521 Left bracket

[0068] 522 Right bracket

[0069] 523 Elastic connection strap

[0070] 524 Accommodation Chamber

[0071] 53 Main gas source pipe

[0072] 54 Main exhaust pipe

[0073] 55. Inflating and deflating unit

[0074] 551 Intake solenoid valve

[0075] 552 vent solenoid valve

[0076] 6 Underwater Propulsion Module

[0077] 61 Upper Thruster

[0078] 62 Lower thruster

[0079] 7. Gas bottle

[0080] 71 Gas cylinder suspension assembly

[0081] 711 strap buckle

[0082] 712 Low Elasticity Straps

[0083] 713 Elastic anti-slip rubber ring

[0084] 8 Counterweight module

[0085] 9 Neck Head DETAILED DESCRIPTION

[0086] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0087] It should be noted that the structures, proportions, sizes, etc. drawn in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0088] See also Figures 1 to 10 The present invention provides a composite power underwater humanoid robot, comprising a trunk module 1, a leg module 2, a flipper 4, a buoyancy adjustment module 5, an air bottle 7, a sensing module and a control module, and also comprising an arm module 3 connected to the trunk module 1, the arm module 3 can move, and is used to simulate a human arm to perform operations; the air bottle 7 is fixedly mounted on the trunk module 1, and is used to store gas; the leg module 2 is connected to the trunk module 1, and the flipper 4 is connected to the bottom, the leg module 2 can move and drive the flipper 4 to generate water power; the leg module 2 can move relative to the trunk module 1 The leg module 2 swings in the left and right directions and the front and back directions of the trunk module 1, that is, the leg module 2 as a whole has two rotational degrees of freedom relative to the trunk module 1, and the leg module 2 itself can also generate movement; the buoyancy adjustment module 5 includes a buoyancy airbag group 51 and an inflation and deflation control mechanism, the buoyancy airbag group 51 is installed on the trunk module 1, and includes a plurality of airbags, and the inflation and deflation control mechanism connects the airbags and the inflation bottle 7; the perception module includes a leg movement detection component; the control module is connected to the perception module in communication, and the control module is respectively connected to the arm module 3, the leg module 2, and the buoyancy adjustment module 5. The present invention also includes an underwater propulsion module 6, the underwater propulsion module 6 includes an upper propeller 61 and a lower propeller 62, the upper propeller 61 is installed on the trunk module 1, and its propulsion direction is preferably along the up and down direction of the trunk module, that is, the propulsion direction of the composite power underwater humanoid robot standing upper propeller 61 is a vertical force. The lower thruster 62 is installed on the leg module 2; the control module is respectively connected to the upper thruster 61 and the lower thruster 62; the leg motion detection component is arranged on the leg module 2, which can obtain the motion status of the leg module 2, and can obtain the angular relationship between the propulsion force of the lower thruster 62 and the torso module 1; the total buoyancy center of the buoyancy airbag group 51 is always within a buoyancy center fluctuation space range when inflating and deflating.

[0089] The main working principle of the composite power underwater humanoid robot of the present invention is:

[0090] The trunk module 1, the arm module 3 and the leg module 2 constitute the humanoid body of the composite power underwater humanoid robot. The trunk module 1 plays a connecting and supporting role. The arm module 3 and the leg module 2 are preferably provided in pairs to simulate the movement of human arms and legs. The arm module 3 can be connected to various tools, and various underwater operations can be performed by controlling the movement of the arm module 3. The inflatable bottle 7 is used to provide air for the buoyancy airbag group 51 of the buoyancy adjustment module 5. The buoyancy airbag group 51 is used to provide buoyancy for the robot. The total buoyancy of the buoyancy airbag group 51 is used to control the sinking and floating of the composite power underwater humanoid robot underwater. The buoyancy airbag group 51 mainly serves to adjust the size of the total buoyancy without changing the position of the total center of buoyancy. Since the buoyancy airbag group 51 only controls the sinking and floating, the buoyancy only needs to change slightly underwater to control the robot to be in a suspended, floating, or sinking state. Therefore, the volume of the airbags of the buoyancy airbag group 51 changes slightly. Through reasonable settings, the total center of buoyancy of the buoyancy airbag group 51 is set within a smaller buoyancy fluctuation space range. The specific size of the buoyancy fluctuation space range can be set according to actual needs. Although the total center of buoyancy of the buoyancy airbag group 51 changes within the buoyancy fluctuation space range when it is inflated and deflated, the impact is extremely small compared to the entire composite-powered underwater humanoid robot as a whole, so it can be ignored. It can be regarded that the inflation and deflation of the buoyancy airbag group 51 does not affect the overall center of buoyancy.

[0091] The composite power underwater humanoid robot of the present invention realizes flexible underwater movement through the composite power system of the buoyancy control of the buoyancy airbag group 51, the adjustable thrust of the underwater propulsion module 6, and the swing of the flippers 4. On the one hand, the movement of the leg module 2 is controlled by the control module, which can drive the flippers 4 at the bottom to move and generate hydrodynamic force. On the other hand, the position of the leg module 2 is controlled by the control module, which can adjust the thrust direction of the lower propeller 62, thereby adjusting the movement posture, and the movement of the leg module 2 is obtained through the leg movement detection component, including the angular position relationship of the leg module 2 relative to the trunk module 1, and the angular relationship of the propulsion force of the lower propeller 62 relative to the trunk module 1 can be obtained, so that the propulsion direction of the lower propeller 62 can be accurately adjusted. When the robot is in a suspended state and works in a small range, the posture and related movements can be controlled mainly by the swing of the flippers 4 and the cooperation of the buoyancy airbag group 51, and the upper propeller 61 and the lower propeller 62 can also be selected to cooperate according to needs. When the robot needs to move long distances, it mainly uses the upper thruster 61 and the lower thruster 62 to achieve rapid long-distance movement, and by changing the angular position of the leg module 2 relative to the torso module 1, the total thrust direction of the underwater propulsion module 6 can be changed to achieve steering and posture adjustment. When moving long distances, the flippers 4 can also be moved to assist in swimming, steering, posture adjustment and other operations as needed.

[0092] See also Figures 1 to 10The present invention is further described below with a specific embodiment:

[0093] In this embodiment, see Figure 1 , Figure 2 and Figure 5 As a preferred design, there are two upper thrusters 61, which are symmetrical about the middle plane of the trunk module 1 in the left-right direction, and the upper thrusters 61 are preferably set at the top of the back of the trunk module 1. The propulsion of the upper thrusters 61 is along the up-down direction of the trunk module, so that the total thrust of the two upper thrusters 61 is more stable. Similarly, there are two leg modules 2, which are also symmetrically arranged about the middle plane of the trunk module 1 in the left-right direction. Each leg module 2 is equipped with a lower thruster 62. The two leg modules 2 move independently of each other, and the direction of the resultant force of the lower thruster 62 can be flexibly adjusted.

[0094] In this embodiment, see Figure 1 , Figure 2 and Figure 5 As a preferred design, the upper thruster 61 has two functions, namely, forward thrust and reverse thrust, so as to push the robot forward or backward, wherein the upper thruster 61 provides thrust through the rotation of the blades, and when both upper thrusters 61 are in forward thrust or reverse thrust, the rotation directions of the blades are opposite, so that the disturbance torque generated when the blades of the two upper thrusters 61 rotate can be offset, and the robot is prevented from being deflected by the two upper thrusters 61. Similarly, the lower thruster 62 also has two functions, namely, forward thrust and reverse thrust, and also provides thrust through the rotation of the blades, and when both lower thrusters 62 are in forward thrust or reverse thrust, the rotation directions of the blades are opposite.

[0095] In this embodiment, see Figure 1 , Figure 6 and Figure 7 As a preferred design, the buoyancy airbag group 51 has three airbags, namely the main buoyancy airbag 511, the left airbag 512 and the right airbag 513. The front side of the main buoyancy airbag 511 is close to the back side of the trunk module 1, and the left airbag 512 and the right airbag 513 are respectively arranged in the left half area and the right half area of ​​the back side of the main buoyancy airbag 511, that is, the main buoyancy airbag 511, the left airbag 512 and the right airbag 513 are arranged in a herringbone shape in space. Preferably, the left airbag 512 and the right airbag 513 are connected to the back side of the main buoyancy airbag 511 by a bonding structure 514 to maintain a stable connection.

[0096] In this embodiment, see Figure 1 , Figure 6 and Figure 8As a preferred design, the buoyancy adjustment module 5 also includes an airbag group mounting frame 52, which includes a left bracket 521 and a right bracket 522 fixedly connected to the torso module 1, and an elastic connection strap 523 arranged between the left bracket 521 and the right bracket 522. The left bracket 521 and the right bracket 522 are respectively fixedly connected to the left and right sides of the torso module 1 through positioning blocks, and the left bracket 521 and the right bracket 522 are both provided with a receiving cavity 524, and the left and right sides of the buoyancy airbag group 51 extend into the receiving cavities 524 of the left bracket 521 and the right bracket 522 respectively. 24, the elastic connecting restraint belt 523 is pressed against the rear side of the buoyancy airbag group 51, specifically, the left airbag 512 extends into the accommodating cavity 524 of the left bracket 521, and the right airbag 513 extends into the accommodating cavity 524 of the right bracket 522 respectively, and the elastic connecting restraint belt 523 is pressed against the left airbag 512 and the right airbag 513, so that the entire buoyancy airbag group 51 is stably installed on the torso module 1, and the elastic connecting restraint belt 523 is elastic, does not affect the inflation and deflation of the main buoyancy airbag 511, the left airbag 512 and the right airbag 513, and can always maintain a compressed state.

[0097] In this embodiment, see Figure 1 and Fig.10 As a preferred design, the gas bottle 7 is fixedly connected to the left and right sides of the trunk module 1 through the gas bottle suspension assembly 71 arranged thereon, wherein the gas bottle suspension assembly 71 includes a strap buckle 711, a low elastic strap 712 and an elastic non-slip rubber ring 713, the elastic non-slip rubber ring 713 is sleeved on the gas bottle 7 and connected to the trunk module 1, the low elastic strap 712 is sleeved on the elastic non-slip rubber ring 713, the strap buckle 711 is connected to the low elastic strap 712, and the low elastic strap 712 can be tightened or loosened, and when the low elastic strap 712 is tightened, the elastic non-slip rubber ring 713 will be clamped, thereby stably clamping the gas bottle 7. In this way, the disassembly, assembly and replacement of the gas bottle 7 are convenient, and the gas bottle 7 is stably and reliably installed.

[0098] In this embodiment, as a preferred design, the inflation and deflation control mechanism of the buoyancy adjustment module 5 includes a main air source pipe 53, a main exhaust pipe 54, and a plurality of inflation and deflation units 55, each of which is used to inflate and deflate an air bag, see Fig. 9The main buoyancy airbag 511, the left airbag 512 and the right airbag 513 are inflated and deflated independently through a dry inflation and deflation unit 55, the main gas source pipe 53 is connected to the inflation bottle 7, the inflation and deflation unit 55 includes an intake solenoid valve 551 and a deflation solenoid valve 552, the inlet of the intake solenoid valve 551 is connected to the main gas source pipe 53 through a pipeline, and the outlet is connected to the airbag through a pipeline, the inlet of the intake solenoid valve 551 is connected to the airbag through a pipeline, and the outlet is connected to the main exhaust pipe 54 through a pipeline; the control module is controlled and connected to the intake solenoid valve 551 and the deflation solenoid valve 552 respectively. When inflation is required, the control module controls the intake solenoid valve 551 to open, and its inlet and outlet are connected, and the gas in the inflation bottle 7 enters the airbag through the main gas source pipe 53 and the intake solenoid valve 551, and the deflation solenoid valve 552 is closed, and its inlet and outlet are disconnected. When deflation is required, the control module controls the air intake solenoid valve 551 to close, its inlet and outlet are disconnected, and the deflation solenoid valve 552 is opened, its inlet and outlet are connected, and the gas in the airbag enters the main exhaust pipe 54 through the deflation solenoid valve 552 and is finally discharged. A one-way valve is connected to the end of the main exhaust pipe 54 to prevent external water from penetrating into the inflation and deflation control mechanism through the exhaust main pipe and causing accidents such as short circuits. A filter is also provided on the main air source pipe 53 to remove oil and water from the gas in the main air source pipe 53.

[0099] In this embodiment, see Figure 1 , Figure 2 and Figure 3As a preferred design, the leg module 2 includes a hip joint mechanism 21, a thigh link 22, a knee joint mechanism 23, a calf link 24, an ankle joint mechanism 25 and a foot end flange 26. The upper end of the thigh link 22 is connected to the trunk module 1 through the hip joint mechanism 21. The hip joint mechanism 21 can drive the thigh link 22 to swing in the front-to-back direction and the left-to-right direction relative to the trunk module 1. Specifically, the thigh link 22 rotates around the A rotation axis and the B rotation axis on the trunk module 1. The A rotation axis is along the left-to-right direction of the trunk module 1, that is, the thigh link 22 is driven to swing in the front-to-back direction relative to the trunk module 1. The B rotation axis is perpendicular to the A rotation axis and along the front-to-back direction of the trunk module 1, that is, the thigh link 22 is driven to swing in the left-to-right direction relative to the trunk module 1. Preferably, the hip joint mechanism 21 is a combined joint structure, including a first hip joint 211, a hip joint connecting rod 213, a second hip joint 212 and a hip joint flange 214, wherein the first hip joint 211 is mounted on the trunk module 1 via the hip joint flange 214, the two ends of the hip joint connecting rod 213 are respectively connected to the first hip joint 211 and the second hip joint 212, and the second hip joint 212 is connected to the thigh connecting rod 2242. The first hip joint 211 and the second hip joint 212 adopt an existing single-degree-of-freedom robot joint structure, which can respectively drive the hip joint connecting rod 213 and the thigh connecting rod 22 to rotate, and the rotation axes of the first hip joint 211 and the second hip joint 212 are respectively the A rotation axis and the B rotation axis. In other embodiments, the hip joint mechanism 21 may also adopt other suitable existing dual-degree-of-freedom robot joint structures.

[0100] In this embodiment, see Figure 1 , Figure 2 and Figure 3 , the lower end of the thigh link 22 is connected to the upper end of the shank link 24 through a knee joint mechanism 23, and the knee joint mechanism 23 can drive the shank link 24 to rotate relative to the thigh link 22 around the C rotation axis, and the C rotation axis is perpendicular to the axis of the thigh link 22, and preferably coplanar with the A rotation axis, so that the shank link 24 can swing relative to the thigh link 22 in the front and rear directions of the robot, which well simulates the movement of the human shank. The knee joint mechanism 23 can also have two perpendicular rotational degrees of freedom, similar to the hip joint mechanism 21. The foot end flange 26 is connected to the lower end of the shank link 24 through an ankle joint mechanism 25, and the ankle joint mechanism 25 can drive the foot end flange 26 around the D rotation axis, and the D rotation axis is perpendicular to the axis of the shank link 24; the flipper 4 is fixedly connected to the foot end flange 26. In other embodiments, the ankle joint mechanism 25 can also have two perpendicular rotational degrees of freedom, and can also rotate around the E rotation axis, and the E rotation axis is perpendicular to the D rotation axis and the axis of the shank link 24.

[0101] In this embodiment, see Figure 1 , Figure 2 and Figure 3 Further preferably, the calf connecting rod 24 includes a calf upper rod 241, a calf lower rod 242, and a calf swivel joint 243 connecting the calf upper rod 241 and the calf lower rod 242. The calf swivel joint 243 can drive the calf upper rod 241 and the calf lower rod 242 to rotate relative to each other, and the rotation axis coincides with the central axis of the calf upper rod 241 and the calf lower rod 242, so that the calf connecting rod 24 also has a rotational freedom, which is more flexible to use.

[0102] In this embodiment, the control module is respectively connected to the hip joint mechanism 21, the knee joint mechanism 23, the ankle joint mechanism 25, and the calf swivel joint 243 of the leg module 2, thereby controlling the flexible movement of the leg module 2 to achieve various actions.

[0103] In this embodiment, see Figure 1 , Figure 2 and Figure 3 Preferably, the lower propeller 62 is fixedly mounted on the thigh link 22. By adjusting the angle position of the thigh link 22 through the hip joint mechanism 21, the thrust direction of the lower propeller 62 can be conveniently adjusted, so that the four propellers of the underwater propulsion module 6 can achieve motion vector control underwater. In addition, when the thigh link 22 remains stationary relative to the trunk module 1, that is, when the thrust direction of the lower propeller 62 remains unchanged, the movement of the fin 4 can be achieved through the movement of the shank link 24 and the foot end flange 26, and hydrodynamic force can be provided at the same time.

[0104] In this embodiment, as a preferred design, the leg motion detection component of the perception module includes a joint angle sensor and a six-degree-of-freedom wrist force sensor. A joint angle sensor capable of detecting the angle between the trunk module 1 and the thigh connecting rod 22 is provided between the trunk module 1 and the thigh connecting rod 22. The thrust direction of the lower propeller 62 can be obtained through the angle relationship between the thigh connecting rod 22 and the trunk module 1. A joint angle sensor capable of detecting the angle between the thigh connecting rod 22 and the calf connecting rod 24 is provided between the thigh connecting rod 22 and the calf connecting rod 24. A joint angle sensor capable of detecting the rotation angle between the calf upper rod 241 and the calf lower rod 242 is also provided between the calf upper rod 241 and the calf lower rod 242. According to the obtained angle information, the shape, posture and position of the entire leg module 2 can be calculated, thereby forming a closed-loop control of the leg module 2 action. The leg motion detection component also includes a joint sensing sensor capable of detecting each joint in the leg module 2, which is used to obtain motion information such as motion, speed, torque, etc. at each joint. The flippers 4 are connected with a six-degree-of-freedom wrist force sensor capable of detecting the power information thereof. The six-degree-of-freedom wrist force sensor connects the wearable flippers 4 to the foot end flange 26 via a flange connection, thereby acquiring the power information of the flippers 4 .

[0105] In this embodiment, see Figure 1 , Figure 2 and Figure 4 As a preferred design, an arm module 3 is installed on each of the left and right sides of the trunk module 1 to simulate the movement of human arms. The arm modules 3 can also be set in other quantities as needed. The arm module 33 includes a shoulder joint mechanism 31, an upper arm connecting rod 32, an elbow joint mechanism 33, a forearm connecting rod 34, a wrist joint mechanism 35 and an arm end flange 36. The upper end of the upper arm connecting rod 32 is connected to the trunk module 1 through the shoulder joint mechanism 31. The shoulder joint mechanism 31 is a two-degree-of-freedom structure with at least one rotation axis perpendicular to each other, which can drive the upper arm connecting rod 32 to swing in the front-to-back direction and the left-to-right direction. Specifically, it rotates around the F rotation axis and the G rotation axis on the trunk module 1. The F rotation axis is along the left-right direction of the trunk module 17, that is, the upper arm connecting rod 32 swings in the front-to-back direction around the F rotation axis, and the G rotation axis is perpendicular to the A rotation axis, that is, the upper arm connecting rod 32 swings sideways in the left-to-right direction around the G rotation axis. The lower end of the upper arm link 32 is connected to the upper end of the forearm link 34 through an elbow joint mechanism 33. The elbow joint mechanism 33 has at least one degree of freedom, which can drive the forearm link 34 to rotate relative to the forearm link 3434 around the H rotation axis. The H rotation axis is perpendicular to the upper arm link 32 and is coplanar with the F rotation axis or the G rotation axis. Therefore, the forearm link 34 can swing in the front-to-back direction or the left-to-right direction relative to the upper arm link 32, which well simulates the movement of the human forearm. The elbow joint mechanism 33 can also have two rotational degrees of freedom, similar to the shoulder joint mechanism 31. The arm end flange 36 is connected to the lower end of the forearm link 34 through a wrist joint mechanism 35. The wrist joint mechanism 35 can drive the arm end flange 36 to rotate around the I rotation axis and the J rotation axis, wherein the I rotation axis is perpendicular to the forearm link 34, and the J rotation axis is perpendicular to the I rotation axis, so as to well simulate the movement of the human palm. The arm end flange 36 is used to connect with the working tool. The control module is respectively connected to the shoulder joint mechanism 31 , the elbow joint mechanism 33 and the wrist joint mechanism 35 , and controls the actions of the shoulder joint mechanism 31 , the elbow joint mechanism 33 and the wrist joint mechanism 35 , thereby controlling the arm module 33 to perform complex tasks.

[0106] In this embodiment, see Figure 1 , Figure 2 and Figure 4Further, the shoulder joint mechanism 31 includes a first shoulder joint 311, a shoulder joint connecting rod 312 and a second shoulder joint 313. The first shoulder joint 311 is installed on the trunk module 1 through a shoulder joint flange. One end of the shoulder joint connecting rod 312 is connected to the first shoulder joint 311 and the other end is connected to the second shoulder joint 313. The rotation axis of the first shoulder joint 311 is the F rotation axis, which is along the left and right direction of the trunk module 1 and is used to achieve forward and backward swinging. The second shoulder joint 313 is connected to the upper arm connecting rod 32, and its rotation axis is the G rotation axis, which can drive the upper arm connecting rod 32 to rotate around the G rotation axis to achieve left and right swinging. The first shoulder joint 311 and the second shoulder joint 313 can both adopt the existing single-degree-of-freedom robot joint structure. In other embodiments, the shoulder joint mechanism 31 can also adopt other existing dual-degree-of-freedom robot joint structures. Similarly, the elbow joint mechanism 33 and the wrist joint mechanism 35 can also adopt existing robot joint structures.

[0107] The arm module 33 in this embodiment is adopted, and has the movement ability of bionic shoulder, elbow and wrist, can well simulate the movement of human arm, has the ability of double-arm cooperation, can adapt to the requirements of underwater operations, and complete complex tasks such as tool operation, such as grinding, welding, sensor installation and other tasks.

[0108] In this embodiment, as a preferred design, the perception module includes an arm motion detection component for obtaining the motion of the arm module 3. The arm motion detection component includes a joint sensing sensor capable of detecting each joint in the arm module 3, and is used to obtain motion information such as motion, speed, torque, etc. at each joint. In addition, it also includes a joint angle sensor capable of detecting the angle between the upper arm connecting rod 32 and the trunk module 1, and a joint angle sensor capable of detecting the angle between the forearm connecting rod 34 and the upper arm connecting rod 32. The joint angle sensor is an existing mature sensor for measuring the change in the joint angle of an object. By measuring the angle between the upper arm connecting rod 32 and the trunk module 1, and the angle between the forearm connecting rod 34 and the upper arm connecting rod 32, the shape, posture and position of the entire arm module 3 can be calculated, thereby forming a closed-loop control of the arm module 3 action. Further, the arm motion detection component also includes a six-degree-of-freedom wrist force sensor, and a working tool is connected to the arm end flange 36. The six-degree-of-freedom wrist force sensor connects the arm end flange 36 and the working tool to obtain the power information of the working tool. The six-degree-of-freedom wrist force sensor is also an existing measuring instrument.

[0109] In this embodiment, see Figure 1 , Figure 2 and Figure 3As a preferred design, the perception module also includes an inertial measurement sensor and a water environment detection component, which can obtain the environment, position, posture and other information of the hybrid power underwater humanoid robot when it is operating underwater, and is used to provide comprehensive perception detection for the movement of the hybrid power underwater humanoid robot, and transmit the detection information to the control module to form a control closed loop. The control module processes and calculates the detection information, and controls the arm module 3, the leg module 2, the buoyancy adjustment module 5 and the underwater propulsion module 6 to perform corresponding actions. Specifically, when the hybrid power underwater humanoid robot moves underwater, the inertial measurement sensor 9 is used to obtain the motion information of the trunk module 1, including the underwater posture (including the orientation angle) and acceleration, etc. The motion information of the trunk module 1 is used to combine other information processing to perform underwater positioning, map reconstruction, closed-loop posture control, underwater wave breaking, breaking current and other motion control of the hybrid power underwater humanoid robot. The water pressure sensor of the water environment detection component is in direct contact with the water environment, and can obtain the water environment pressure, so as to obtain the external pressure on the airbag, which is used for the closed-loop control of buoyancy and total buoyancy center, and can obtain the water depth. The arm motion detection component is used to obtain the motion of the arm module 3, which is used to determine its position and posture, so as to control the arm module 3 to perform a specified action. The leg motion detection component is used to obtain the motion of the leg module 2, which is used to determine its position and posture, so as to control the leg module 2 to perform a specified action.

[0110] In this embodiment, as a preferred design, the inertial measurement sensor in the perception module adopts a nine-axis inertial sensor. The nine-axis inertial sensor is an existing measuring instrument and can be specifically installed on the front abdomen of the torso module 1 to detect the movement of the torso module 1 and obtain the motion information of the torso module 1 including underwater posture and acceleration, which is used to assist underwater positioning, attitude closed-loop control, and motion control such as breaking waves and breaking currents.

[0111] In this embodiment, as a preferred design, the water environment detection component includes a water pressure sensor and a water temperature sensor. The water pressure sensor and the water temperature sensor are preferably installed on the torso module 1 and are in direct contact with the water environment. The water depth sensor is used to obtain the water pressure, thereby obtaining a rough airbag external pressure. It is a key component for buoyancy control and can also calculate the water depth through the water pressure. The water temperature sensor is used to obtain the underwater environment temperature for underwater airbag volume compensation control.

[0112] In this embodiment, see Figure 1 and Figure 2As a preferred design, the perception module also includes a visual detection mechanism and a sonar detection mechanism installed on the torso module 1. The visual detection mechanism and the sonar detection mechanism are fixedly installed at the end of the neck gimbal 9 set on the torso module 1. The neck gimbal 9 has two degrees of freedom, and the movement is controlled by the control module to adjust the perception detection angle of the visual detection mechanism and the sonar module. To meet the needs of underwater operations, the visual detection mechanism includes structures such as an RGB camera and an adaptive light source.

[0113] In this embodiment, as a preferred design, the power and data lines of structures such as the arm module 3, leg module 2, neck gimbal 9, upper thruster 61, lower thruster 62, vision module and sonar module are connected to the built-in controller and driver through a waterproof aviation plug arranged in the torso module 1.

[0114] In this embodiment, as a preferred design, the control module includes a controller and a communication part, specifically including a micro-industrial computer mainboard, a joint drive controller, an electromagnetic relay drive board, a network data switch, a battery and a power management mechanism and other structures, wherein the micro-industrial computer mainboard is mainly used for the calculation of motion parameter data, command transmission and motion control, the joint drive controller is used to receive control instructions and drive the movement of each joint, the electromagnetic relay drive board is used to receive instructions and control the action of the air intake solenoid valve 551 and the air discharge solenoid valve 552 in the buoyancy adjustment module 5, the network data switch is used for data communication and exchange between various parts, and the battery and the power management mechanism are used for power supply. The charging interface of the battery and the debugging interface of the controller are set in the trunk module 1 in the form of a waterproof aviation connector. The control module of the present invention can also adopt an existing suitable structure, which can realize the above-mentioned data signal reception and processing, command transmission, motion control and other functions, and it can be not limited in the present invention.

[0115] In this embodiment, see Figure 1 As a preferred design, it also includes a counterweight module 8, which includes a buckle strap installed on the torso module 1 and a counterweight weight installed on the buckle strap. The counterweight weight can be used to adjust the overall center of gravity and mass of the robot by manually adding and moving the counterweight weight.

[0116] As can be seen from the above, the hybrid powered underwater humanoid robot of the present invention has the following beneficial effects:

[0117] 1. Flexible underwater movement is achieved through a composite power system consisting of the controllable buoyancy of the buoyancy airbag group 51, the adjustable thrust of the underwater propulsion module 6, and the swinging of the flippers 4. When moving over a long distance and a large range, the propeller of the underwater propulsion module 6 is used to achieve the movement, and the propulsion angle can be flexibly adjusted to form a rapid motion vector control underwater, which can drive the robot to move quickly and achieve rapid transition.

[0118] 2. The robot's state estimation and motion trajectory control are realized through the control module and the perception module. The system has edge computing capabilities to support motion planning optimization and task decision-making.

[0119] 3. The buoyancy control module can quickly adjust the underwater buoyancy of the robot and build neutral buoyancy, thereby optimizing the power consumption of the underwater propeller 62 and the stability of the propulsion of the fins 4.

[0120] 4. It adopts a humanoid double-arm structure topology, and each arm module 3 has the movement ability of bionic shoulders, elbows, and wrists. It realizes underwater double-arm collaboration through joint torque perception and motion control, completing complex tool manipulation and operation tasks while avoiding mechanical damage to underwater collaborative personnel and equipment caused by the robotic arm; the leg module 2 has bionic movement capabilities of the hip, knee, and ankle joints, and combined with the flippers 4, it can restore various kicking gaits of scuba diving to the greatest extent, thereby enabling the robot to achieve underwater hovering, forward, backward, left deviation, right deviation, left roll, right roll and other actions.

[0121] In summary, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0122] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A composite power underwater humanoid robot, comprising a trunk module (1), a leg module (2), a fin (4), a buoyancy adjustment module (5), an air bottle (7), a sensing module and a control module; the air bottle (7) is fixedly mounted on the trunk module (1); the leg module (2) is connected to the trunk module (1), and the bottom is connected with a fin (4); the leg module (2) can move and drive the fin (4) to generate hydrodynamic force; the leg module (2) can move relative to the trunk module (1) on the trunk The trunk module (1) swings in the left-right direction and the front-back direction; the buoyancy adjustment module (5) comprises a buoyancy airbag group (51) and an inflation and deflation control mechanism, the buoyancy airbag group (51) is installed on the trunk module (1) and comprises a plurality of airbags, and the inflation and deflation control mechanism connects the airbags and the inflation bottle (7); the perception module comprises a leg movement detection component; the control module is communicatively connected with the perception module, and the control module is respectively control-connected with the leg module (2) and the buoyancy adjustment module (5); the characteristics are: The invention also comprises an underwater propulsion module (6), wherein the underwater propulsion module (6) comprises an upper propeller (61) and a lower propeller (62), wherein the upper propeller (61) is mounted on the trunk module (1), and the lower propeller (62) is mounted on the leg module (2); the control module is respectively connected to the upper propeller (61) and the lower propeller (62); the leg motion detection component is arranged on the leg module (2), and is capable of acquiring the motion condition of the leg module (2), and is capable of acquiring the angular relationship between the propulsion force of the lower propeller (62) and the trunk module (1); The total buoyancy center of the buoyancy airbag group (51) is always within a buoyancy center fluctuation space range when it is inflated or deflated.

2. The hybrid powered underwater humanoid robot according to claim 1, characterized in that: There are two upper thrusters (61), which are symmetrical with respect to the middle plane of the trunk module (1) in the left and right directions. The propulsion force of the upper thrusters (61) is along the up and down directions of the trunk module. There are also two leg modules (2), and each leg module (2) is equipped with a lower thruster (62).

3. The hybrid powered underwater humanoid robot according to claim 2, characterized in that: The upper propeller (61) has forward thrust and reverse thrust functions. The upper propeller (61) provides thrust through the rotation of blades. When both upper propellers (61) are in forward thrust or reverse thrust, the rotation directions of the blades are opposite.

4. The hybrid powered underwater humanoid robot according to claim 2, characterized in that: The lower propeller (62) has forward thrust and reverse thrust functions. The lower propeller (62) provides thrust through the rotation of the blades. When both lower propellers (62) are in forward thrust or reverse thrust, the rotation directions of the blades are opposite.

5. The hybrid powered underwater humanoid robot according to claim 1, characterized in that: The buoyancy airbag group (51) comprises three airbags, namely a main buoyancy airbag (511), a left airbag (512) and a right airbag (513). The front side of the main buoyancy airbag (511) is close to the rear back side of the trunk module (1), and the left airbag (512) and the right airbag (513) are respectively arranged in the left half area and the right half area of ​​the rear side of the main buoyancy airbag (511).

6. The hybrid powered underwater humanoid robot according to claim 5, characterized in that: The left airbag (512) and the right airbag (513) are both connected to the rear side of the main buoyancy airbag (511) through a bonding structure (514).

7. The hybrid powered underwater humanoid robot according to claim 1 or 5, characterized in that: The buoyancy adjustment module (5) further comprises an airbag assembly mounting frame (52), the airbag assembly mounting frame (52) comprising a left bracket (521) and a right bracket (522) fixedly connected to the trunk module (1), and an elastic connecting strap (523) arranged between the left bracket (521) and the right bracket (522), the left and right sides of the buoyancy airbag assembly (51) respectively extending into the accommodating cavities (524) of the left bracket (521) and the right bracket (522), and the elastic connecting strap (523) pressing against the rear side of the buoyancy airbag assembly (51).

8. The hybrid powered underwater humanoid robot according to claim 1, characterized in that: The inflation and deflation control mechanism of the buoyancy adjustment module (5) comprises a main air source pipe (53), a main exhaust pipe (54), and a plurality of inflation and deflation units (55), each of which is used for inflating and deflation of an air bag. The main air source pipe (53) is connected to the inflation bottle (7), and the inflation and deflation unit (55) comprises an air intake solenoid valve (551) and an air deflation solenoid valve (552). The inlet of the air intake solenoid valve (551) is connected to the main air source pipe (53) through a pipeline, and the outlet is connected to the air bag through a pipeline. The inlet of the air intake solenoid valve (551) is connected to the air bag through a pipeline, and the outlet is connected to the main exhaust pipe (54) through a pipeline. The control module is respectively connected to the air intake solenoid valve (551) and the air deflation solenoid valve (552).

9. The hybrid powered underwater humanoid robot according to claim 1, characterized in that: The leg module (2) comprises a hip joint mechanism (21), a thigh connecting rod (22), a knee joint mechanism (23), a calf connecting rod (24), an ankle joint mechanism (25) and a foot end flange (26); the upper end of the thigh connecting rod (22) is connected to the trunk module (1) via the hip joint mechanism (21); the hip joint mechanism (21) can drive the thigh connecting rod (22) to swing in the front-back direction and the left-right direction relative to the trunk module (1); the lower end of the thigh connecting rod (22) is connected to the upper end of the calf connecting rod (24) via the knee joint mechanism (23); the knee joint mechanism (23) can drive the calf connecting rod (24) to swing relative to the thigh connecting rod (1). The rod (22) rotates around the G rotation axis, and the G rotation axis is perpendicular to the axis of the thigh connecting rod (22); the foot end flange (26) is connected to the lower end of the shank connecting rod (24) through the ankle joint mechanism (25), and the ankle joint mechanism (25) can drive the foot end flange (26) to rotate around the H rotation axis, and the H rotation axis is perpendicular to the axis of the shank connecting rod (24); the fin (4) is fixedly connected to the foot end flange (26); the control module is respectively connected to the hip joint mechanism (21), the knee joint mechanism (23) and the ankle joint mechanism (25); the lower thruster (62) is fixedly installed on the thigh connecting rod (22).

10. The hybrid powered underwater humanoid robot according to claim 9, characterized in that: The calf connecting rod (24) comprises a calf upper rod (241), a calf lower rod (242), and a calf swivel joint (243) connecting the calf upper rod (241) and the calf lower rod (242); the calf swivel joint (243) can drive the calf upper rod (241) and the calf lower rod (242) to rotate relative to each other.

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