Multi-terrain detecting and grabbing integrated robot based on bionic octopus and control method

Abstract

The invention relates to the technical field of robots, and discloses a multi-terrain detecting and grabbing integrated robot based on bionic octopuses and a control method, and the robot comprises a head device which is provided with a detection station, a wireless communication line, a high-speed camera and a flight device; the wireless communication line is installed on the detection table and used for communicating with the outside, the high-speed camera is fixed to the side face of the detection table and used for detecting surrounding environment information, and the flying device is used for achieving the flying function of the robot. The leg device is fixedly connected with the head device through a signal line and is provided with an underwater detection chassis, an underwater camera, an underwater propelling device, a plurality of mechanical arms and a tail end executor, the underwater propelling device is used for achieving the underwater moving function of the robot, and the mechanical arms and the tail end executor are used for achieving the grabbing function of the robot; and the control device is used for controlling the overall movement and operation of the robot. The unmanned aerial vehicle has excellent multi-terrain adaptability and can execute tasks under water, in high altitude, on land and in complex terrains.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a multi-terrain detection and grasping integrated robot based on a bionic octopus and a control method. Background Art

[0002] With the continuous advancement of science and technology and the diversification of various task requirements, modern detection and grasping technology is developing towards higher integration, intelligence and multifunctionality. Traditional detection and grasping systems are mostly single-function devices, which usually require different equipment and tools for task switching, which not only increases the complexity of operation, but also reduces work efficiency and safety. In some special environments, such as underwater, high altitude, complex terrain and narrow space, traditional robot systems often face problems such as insufficient adaptability and poor flexibility, which limits their application scope. In recent years, bionics, as an innovative design idea, has been widely used in the field of robotics, especially the movement of organisms such as bionic octopuses, which provides a new development direction for multi-terrain robots. As the top hunter among marine organisms, octopuses can easily operate in complex environments with their high softness, adaptability and strong grasping ability. This feature provides valuable reference for robots in multi-terrain detection and grasping tasks.

[0003] In this context, the development of a multi-terrain robot with integrated detection and grasping functions, which can flexibly perform tasks in a variety of environments, has important application prospects. Through the motion design of the bionic octopus, combined with the characteristics of flight and underwater operations, an integrated robot system has been developed, which can not only solve the problem of insufficient adaptability of traditional systems, but also improve the efficiency of task execution, reduce the complexity of equipment switching, and ensure the safety and reliability of operations. This technological innovation has shown great potential and market demand, especially in the fields of geological exploration, disaster search and rescue, and environmental monitoring. Summary of the invention

[0004] In order to solve the problems of insufficient adaptability, frequent task switching and low efficiency of existing robot systems in complex environments, the present invention provides a multi-terrain detection and grasping integrated robot based on a bionic octopus and a control method.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A multi-terrain detection and grasping integrated robot based on a bionic octopus, comprising: a head device, a leg device and a control device;

[0007] The head device is equipped with a detection platform, a wireless communication line, a high-speed camera and a flying device; the wireless communication line is installed on the detection platform for communicating with the outside, the high-speed camera is fixed on the side of the detection platform for detecting surrounding environment information, and the flying device is used to realize the flying function of the robot;

[0008] The leg device is fixedly connected to the head device through a signal line, and is equipped with an underwater detection chassis, an underwater camera, an underwater propulsion device, a plurality of mechanical arms and an end effector. The underwater propulsion device is used to realize the underwater movement function of the robot, and the mechanical arms and the end effector are used to realize the grasping function of the robot;

[0009] The control device is installed on the head device and is provided with a posture sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, an air pressure sensor and a microcontroller for controlling the overall movement and operation of the robot.

[0010] Furthermore, the head device also includes a flying base and a floating ring; the floating ring is arranged on the edge of the flying base to enable the robot to float on the sea surface.

[0011] Furthermore, the head device also includes a signal line motor and a winding barrel, the signal line is wound around the winding barrel, and the signal line motor drives the winding barrel to rotate to achieve the extension and shortening of the signal line.

[0012] Furthermore, the flight device comprises a flight motor and a flight rotor; the flight rotor is fixedly connected to the rotating end of the flight motor;

[0013] The underwater propulsion device comprises an underwater propulsion paddle and an underwater propulsion motor; the underwater propulsion paddle is fixedly connected to the rotating end of the underwater propulsion motor.

[0014] Furthermore, the robotic arm is provided with a plurality of rotational joints for realizing multi-degree-of-freedom movement of the robotic arm.

[0015] Furthermore, the end effector includes flexible fingers and a robotic arm suction cup, which are used to grasp objects of different shapes and materials.

[0016] A control method for a multi-terrain detection and grasping integrated robot based on a bionic octopus, the robot having a flight mode;

[0017] The flight mode control process is as follows: reclaim the signal line to drive the leg device to tighten; control the robot to take off, measure the robot's flight altitude according to the air pressure, and when the specified altitude is reached, control the mechanical arm to retract; during the flight, the flight is achieved by changing the rotation speed of the flight device, the left flight device has a higher rotation speed than the right flight device to achieve a right turn, and the right flight device has a higher rotation speed than the left flight device to achieve a left turn; the high-speed camera captures the image in real time and sends it to the control device, and the control device sends it to the main control console via a wireless communication line.

[0018] Further, the robot has a land mode;

[0019] The land mode control process is as follows:

[0020] If the current terrain is flat, the robot is controlled in flight mode;

[0021] If the current terrain is complex, the robot's flight height is measured according to the air pressure. When the robot falls to a certain height, the robot's mechanical arm is controlled to unfold; the flight motor is controlled to decelerate and the robot lands on the ground; the robot's mechanical arm is controlled to move so that the robot can walk on complex terrain; the complex terrain includes smooth ground and rugged ground;

[0022] If the current terrain is smooth, the suction cup motor is controlled to work each time walking / climbing, so that the suction cup of the robot arm adheres to the ground;

[0023] When it comes to rough terrain, control the flexible fingers to grip and release each time you walk / climb;

[0024] The high-speed camera captures the images in real time and sends them to the control device, which then sends them to the main console via a wireless communication line.

[0025] A control method for a multi-terrain detection and grasping integrated robot based on a bionic octopus, the robot having an ocean detection mode;

[0026] The control process of the ocean detection mode is as follows: control the robot to land on the sea surface, the floating ring makes the robot float on the sea surface, the flight motor stops rotating, the signal line is released, and the leg device falls into the sea; control the underwater propulsion device to move, the leg device sinks, and when a certain depth is detected by the pressure sensor, the mechanical arm is controlled to unfold and wait for the execution of the grasping task; during the seabed operation, seabed navigation is achieved by changing the rotation speed of the underwater propulsion device, the left underwater propulsion device rotates faster than the right underwater propulsion device to realize the robot turning right, and the right underwater propulsion device rotates faster than the left underwater propulsion device to realize the robot turning left. When the underwater propulsion devices have the same speed, they can move forward and backward according to different directions; the pictures captured by the underwater camera in real time are sent to the control device through the signal line, and the control device sends them to the main control console through the wireless communication line.

[0027] Compared with the prior art, the beneficial technical effects of the present invention are:

[0028] The present invention discloses a multi-terrain detection and grasping integrated robot based on a bionic octopus and a control method, comprising a head device, a leg device and a control device, wherein the head device mainly realizes the flight and detection of the robot, and the leg device is mainly used for the robot's climbing, grasping and underwater detection operations. The multi-terrain detection and grasping integrated robot based on a bionic octopus controls the head device and the leg device to work through a control device to complete detection tasks underwater, at high altitude, on land and in complex terrain. The present invention has excellent multi-terrain adaptability and can perform tasks underwater, at high altitude, on land and in complex terrain. The robot exhibits extremely high flexibility and grasping ability in a small space by simulating the movement ability of an octopus through bionic design. Through an integrated control system, the robot can coordinately operate the head and leg devices to complete multi-functional tasks such as detection, grasping, flight and underwater operations, and is suitable for geological exploration, disaster search and rescue, environmental monitoring and other fields, showing strong application potential, reducing equipment switching, and improving work efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of a multi-terrain detection and grasping integrated robot based on a bionic octopus in one embodiment of the present invention.

[0030] Figure 2 It is a schematic structural diagram of a flying base in an embodiment of the present invention.

[0031] Figure 3 It is a structural schematic diagram of an underwater detection chassis in an embodiment of the present invention.

[0032] Figure 4 Schematic diagram of the structure of the leg device in an embodiment of the present invention.

[0033] Figure 5 Schematic diagram of the structure of the leg device in an embodiment of the present invention.

[0034] Figure 6 It is a schematic structural diagram of a multi-terrain detection and grasping integrated robot based on a bionic octopus in another embodiment of the present invention.

[0035] Figure 7 It is a schematic diagram of climbing in the land mode in an embodiment of the present invention.

[0036] Figure 8 It is a schematic diagram of the operation of the ocean detection mode in an embodiment of the present invention.

[0037] Fig. 9 It is a schematic diagram of the operation of the flight mode in an embodiment of the present invention.

[0038] In the figure:

[0039] 1. Head device; 2. Leg device; 3. Control device; 4. Signal line; 100. Detection platform; 101. Wireless communication line; 102. High-speed camera; 103. Sealing cover; 104. Flying device; 105. Flying base; 106. Floating ring; 107. Signal line motor; 108. Winding drum; 109. Battery; 110. Water baffle; 111. Circular boss; 112. Flying rotor; 113. Flying motor; 114. Flying device bracket; 200. Underwater detection chassis; 201. Fixing hole; 202. Underwater camera; 203. Underwater propulsion device; 204. Underwater propulsion paddle; 205, underwater propulsion motor; 206, underwater motor bracket; 207, robot arm base; 208, first joint; 209, first motor; 210, second motor; 211, second joint; 212, third joint; 213, third motor; 214, fourth joint; 215, fourth motor; 216, fifth joint; 217, fifth motor; 218, end effector; 219, robot arm suction cup; 220, flexible finger; 221, suction cup motor; 222, rope drum; 223, rope motor; 224, waterproof shell; 225, end effector motor; 226, sub-controller. DETAILED DESCRIPTION

[0040] A preferred embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0041] The present invention proposes a multi-terrain detection and grasping integrated robot and a control method, and the technical solution thereof is described in detail below.

[0042] 1. Overall structure

[0043] A multi-terrain detection and grasping integrated robot based on a bionic octopus, comprising a head device (1), a leg device (2) and a control device (3). The control device (3) is fixed to the head device (1), and the head device (1) and the leg device (2) are fixedly connected via a signal line (4). One end of the signal line (4) is fixed to the head device (1), and the other end is fixed to the leg device (3).

[0044] 2. Structure of the head device

[0045] The head device (1) comprises a detection platform (100), a wireless communication line (101), a high-speed camera (102), a sealing cover (103), a flying device (104), a flying base (105), a floating ring (106), a signal line motor (107), a winding barrel (108), a battery (109), a water baffle (110), an annular boss (111), a flying rotor (112), a flying motor (113) and a flying device bracket (114).

[0046] The detection platform (100) is fixedly connected to the sealing cover (103), the wireless communication line (101) is fixed to the top of the detection platform (100) for receiving main control console signals and sending robot position information, and the high-speed camera (102) is fixed to the side of the detection platform (100) for detecting surrounding environment information.

[0047] The sealing cover (103) is provided with a hollow hole for installing the flying device (104). The sealing cover (103) is fixed on the top of the flying base (105).

[0048] The edge of the flight base (105) is provided with a floating ring (106) that enables the robot to float on the sea surface. The flight base (105) is provided with a groove for fixing the control device (3). The groove of the flight base (105) is provided with a battery (109) for powering the robot. The groove of the flight base (105) is provided with a waterproof baffle (110), and the baffle is fixed to the outside of the control device (3) and the battery (109). The signal line motor (107) is fixed to the groove of the flight base (105). The winding drum (108) is fixedly connected to the rotating shaft of the signal line motor (107). The winding drum (108) is provided with a boss for preventing the signal line (4) from falling off. The signal line (4) is fixed to the winding drum (108). The signal line motor (107) drives the winding drum (108) to rotate to extend and shorten the signal line (4).

[0049] The flying base (105) is provided with a plurality of holes for installing the flying device (104); the edges of the holes of the flying device (105) are provided with annular bosses (111) for ensuring flying safety; the bottom of the holes of the flying device (105) is provided with a flying bracket (114) for installing the flying device (105); the flying device bracket (114) is a hollow structure for guiding motor wiring.

[0050] The flying device (104) comprises a flying motor (113) and a flying rotor (112); the flying motor is fixed above the flying bracket (114); and the flying rotor (112) is fixedly connected to a rotating shaft of the flying motor (113).

[0051] 3. Structure of the leg device

[0052] The leg device (2) comprises an underwater detection chassis (200), a fixing hole (201), an underwater camera (202), an underwater propulsion device (203), an underwater propulsion paddle (204), an underwater propulsion motor (205), an underwater motor bracket (206), a mechanical arm base (207), a first joint (208), a first motor (209), a second motor (210), a second joint (211), a third joint (212), a third motor (213), a fourth joint (214), a fourth motor (215), a fifth joint (216), a fifth motor (217), an end effector (218), a mechanical arm suction cup (219), a flexible finger (220), a suction cup motor (221), a rope pull drum (222), a rope pull motor (223), a waterproof shell (224), an end effector motor (225), and a sub-controller (226).

[0053] The underwater detection chassis (200) is fixedly connected to one end of the signal line (4) via a fixing hole (201); an underwater camera (202) for underwater detection is provided at the bottom of the underwater detection chassis (200); the underwater detection chassis (200) is provided with a plurality of holes for installing an underwater propulsion device (203); an annular boss is provided at the edge of the hole of the underwater detection chassis (200); and an underwater motor bracket (206) is provided at the bottom of the hole of the underwater detection chassis (200).

[0054] The underwater propulsion device (203) comprises an underwater propulsion paddle (204) and an underwater propulsion motor (205). The underwater propulsion motor (205) is fixed to the top of an underwater motor bracket (206). The underwater propulsion paddle (204) is fixedly connected to the rotating shaft of the underwater propulsion motor (205).

[0055] A plurality of mechanical arm bases (207) are fixed at the bottom of the underwater detection chassis (200); the first motor (209) is fixed to the first joint (208); the rotating shaft of the first motor (209) is fixedly connected to the mechanical arm base (207); the first joint (208) is provided with a groove for folding the second joint (211); and the first joint (208) is provided with a boss fixedly connected to the rotating shaft of the second motor (210).

[0056] One end of the second joint (211) is provided with a groove for fixing and connecting the second motor (210), one end of the second joint (211) is provided with a through hole for rotating the shaft of the second motor (210), and the second joint (211) is a hollow structure. The third motor (213) is fixed to the third joint (212), the shaft of the third motor (213) is fixedly connected to one end of the second joint (211), the third joint (212) is provided with a groove for folding the fourth joint (214), and the third joint (212) is provided with a boss fixedly connected to the shaft of the fourth motor (215). One end of the fourth joint (214) is provided with a groove for fixing and connecting the fourth motor (215), one end of the fourth joint (214) is provided with a through hole for rotating the shaft of the fourth motor (215), and the fourth joint (214) is a hollow structure. The fifth motor (217) is fixed to the fifth joint (216), the rotating shaft of the fifth motor (217) is fixedly connected to one end of the fourth joint (214), the fifth joint (216) is provided with a groove for folding the end effector (218), and the fifth joint (216) is provided with a boss fixedly connected to the rotating shaft of the end effector motor (225).

[0057] One end of the end effector (218) is provided with a groove for fixed connection of the end effector motor (225), and one end of the end effector (218) is provided with a through hole for rotation of the shaft of the end effector motor (225). The end effector (218) is a hollow structure, and one end of the end effector (218) is provided with a hollow control box, and the pull rope motor (223) is fixed inside the control box of the end effector (218).

[0058] The rope-pulling drum (222) is fixedly connected to the rotating shaft of the rope-pulling motor (223); the rope-pulling drum (222) is provided with a baffle to prevent the rope from falling off; one end of the rope is fixedly connected to the rope-pulling drum (222); the flexible finger (220) is fixed to the outside of the end effector (218); the flexible finger (220) is a flexible structure and the top is fixed to the rope.

[0059] The flexible finger (220) drives the rope drum (222) to rotate through the rope motor (223) to control the rope extension and retraction, thereby controlling the flexible finger (220) to grasp and release. The suction cup motor (221) is fixed inside the end effector (218) control box, and the mechanical arm suction cup (219) is fixedly connected to the suction cup motor (221) for adsorbing objects. The waterproof shell (224) is used to seal the end effector (218) control box. The sub-controller (226) is fixed to the bottom of the underwater detection chassis (200) and is used to control various devices of the leg device (2).

[0060] 4. Structure of the control device

[0061] The control device (3) and the sub-controller (226) are provided with a posture sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, an air pressure sensor and a microcontroller.

[0062] 5. Other structures

[0063] The control device (3) of the head device (1) communicates with the sub-controller (226) of the leg device (2) via a signal line (4).

[0064] The number of the flying devices (104) and the underwater propulsion devices (203) is four.

[0065] 6. Control method

[0066] The control method of the multi-terrain detection and grasping integrated robot based on the bionic octopus of the present invention performs movement and detection of the sky, ocean, land and complex terrains based on the multi-terrain detection and grasping integrated robot of the bionic octopus, including a flight mode, an ocean detection mode and a land mode.

[0067] The flight mode control process is as follows: the control device (3) controls the signal line motor (107) to drive the winding drum (108) to rotate and recycle the signal line (4), and the signal line (4) drives the leg device (2) to tighten. The control device (3) controls the flight motor (113) to drive the flight rotor (112) to rotate, and the robot takes off. The flight height of the robot is measured according to the air pressure. When the robot reaches the specified height, the control device (3) sends a take-off instruction to the sub-controller (226). The sub-controller (226) receives the instruction to control the first motor (209), the second motor (210), the third motor (213), the fourth motor (215), the fifth motor (217), and the end effector motor (225) to rotate, and the robot arm retracts. During the flight process, the control device (3) realizes flight by changing the rotation speed of the four flight motors (113). The left flight motor (113) rotates faster than the right flight motor (113) to realize right turn, and the right flight motor (113) rotates faster than the left flight motor (113) to realize left turn. The high-speed camera (102) captures the images in real time and sends them to the control device (3), and the control device (3) sends them to the main control console via the wireless communication line (101).

[0068] The control process of the ocean detection mode is as follows: the control device (3) descends to the sea surface, the floating ring (106) allows the robot to float on the sea surface, the control device (3) controls the flight motor (113) to stop rotating, the control device (3) controls the signal line motor (107) to drive the winding barrel (108) to rotate and release the signal line (4), and the leg device (2) falls into the sea. The control device (3) sends a seabed detection signal to the sub-controller (226), the sub-controller (226) receives the signal to control the underwater propulsion motor (205) to move, the leg device (3) sinks, and when a certain depth is reached through the pressure sensor detection, the sub-controller (226) controls the first motor (209), the second motor (210), the third motor (213), the fourth motor (215), the fifth motor (217), and the end effector motor (225) to rotate, the robot arm is unfolded, and waits to perform the grasping task. During the seabed operation, the sub-controller (226) realizes seabed navigation by changing the rotation speed of the four underwater propulsion devices (203). The rotation speed of the left underwater propulsion device (203) is higher than that of the right underwater propulsion device (203), so that the robot turns right. The rotation speed of the right underwater propulsion device (203) is higher than that of the left underwater propulsion device (203), so that the robot turns left. The four underwater propulsion devices (203) can move forward and backward at the same speed according to different directions. The underwater camera (202) captures the picture in real time and sends it to the sub-controller (226). The sub-controller (226) sends it to the control device (3) through the signal line (4), and the control device (3) sends it to the main control console through the wireless communication line (101).

[0069] The land mode control process is as follows: when the ground is flat, the robot is controlled in flight mode. When encountering complex terrain, the control device (3) measures the flight height of the robot according to the air pressure. When the robot falls to a certain height, the sub-controller (226) controls the first motor (209), the second motor (210), the third motor (213), the fourth motor (215), the fifth motor (217), and the end effector motor (225) to rotate, and the robot arm is unfolded. The control device (3) controls the flight motor (113) to decelerate, and the robot slowly lands on the ground. The control device (3) controls the first motor (209), the second motor (210), the third motor (213), the fourth motor (215), the fifth motor (217), and the end effector motor (225) to rotate through the sub-controller (226), so as to realize the walking of the robot on complex terrain. When the ground is smooth, each time the walking / climbing control device (3) controls the suction cup motor (221) to work through the sub-controller (226), the mechanical arm suction cup (219) adsorbs the ground, thereby improving walking safety and efficiency. When the ground is rough, each time the walking / climbing control device (3) controls the pull rope motor (223) through the sub-controller (226) to drive the pull rope drum (222) to rotate, thereby contracting and releasing the pull rope to make the flexible fingers (220) grasp and release, thereby improving walking safety and efficiency. The high-speed camera (102) captures the picture in real time and sends it to the control device (3), and the control device (3) sends it to the main control console through the wireless communication line (101).

[0070] Flat ground: The ground is flat without obvious ups and downs or obstacles, such as roads, squares, etc.

[0071] Smooth ground: The ground surface is smooth and has low friction, such as ice, glass, etc.

[0072] Rugged terrain: complex terrain, large ups and downs, and irregular surface, such as construction sites, hillsides, etc.

[0073] Complex terrain includes smooth ground, rugged ground and others.

[0074] More strictly speaking, flat ground and rugged ground are distinguished based on the change in height and slope of the ground; when the change in height and slope per unit length is greater than the set value, the ground is considered rugged; when the change in height and slope per unit length is less than the set value, the ground is considered flat. Smooth ground refers to ground with a surface roughness less than the set value.

[0075] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0076] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A multi-terrain detection and grasping integrated robot based on a bionic octopus, characterized in that: include: A head device (1), a leg device (2) and a control device (3); A head device (1) is provided with a detection platform (100), a wireless communication line (101), a high-speed camera (102) and a flying device (104); the wireless communication line (101) is installed on the detection platform (100) for communicating with the outside, the high-speed camera (102) is fixed to the side of the detection platform (100) for detecting surrounding environment information, and the flying device (104) is used to realize the flying function of the robot; The leg device (2) is fixedly connected to the head device (1) via a signal line (4), and is equipped with an underwater detection chassis (200), an underwater camera (202), an underwater propulsion device (203), a plurality of mechanical arms and an end effector (218), wherein the underwater propulsion device is used to realize the underwater movement function of the robot, and the mechanical arms and the end effector are used to realize the grasping function of the robot; The control device (3) is installed on the head device (1) and is provided with a posture sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, an air pressure sensor and a microcontroller, and is used to control the overall movement and operation of the robot.

2. The multi-terrain detection and grasping integrated robot based on bionic octopus according to claim 1 is characterized in that: The head device (1) also comprises a flying base (105) and a floating ring (106); the floating ring (106) is arranged on the edge of the flying base (105) and is used to make the robot float on the sea surface.

3. The multi-terrain detection and grasping integrated robot based on bionic octopus according to claim 1 is characterized in that: The head device (1) further comprises a signal line motor (107) and a winding drum (108), the signal line (4) being wound on the winding drum (108), and the signal line motor (107) driving the winding drum (108) to rotate, thereby achieving the extension and shortening of the signal line (4).

4. The multi-terrain detection and grasping integrated robot based on bionic octopus according to claim 1 is characterized in that: The flying device (104) comprises a flying motor (113) and a flying rotor (112); the flying rotor (112) is fixedly connected to the rotating end of the flying motor (113); The underwater propulsion device (203) comprises an underwater propulsion paddle (204) and an underwater propulsion motor (205); the underwater propulsion paddle (204) is fixedly connected to the rotating end of the underwater propulsion motor (205).

5. The multi-terrain detection and grasping integrated robot based on bionic octopus according to claim 1 is characterized in that: The mechanical arm is provided with a plurality of rotation joints for realizing multi-degree-of-freedom movement of the mechanical arm.

6. The multi-terrain detection and grasping integrated robot based on bionic octopus according to claim 1, characterized in that: The end effector comprises a flexible finger (220) and a mechanical arm suction cup (219), and is used to grasp objects of different shapes and materials.

7. A control method for a multi-terrain detection and grasping integrated robot based on a bionic octopus as claimed in any one of claims 1 to 6, characterized in that: The robot has a flight mode; The flight mode control process is as follows: retrieving the signal line (4) to drive the leg device (2) to tighten; controlling the robot to take off, measuring the flight height of the robot according to the air pressure, and controlling the mechanical arm to retract when the robot reaches the specified height; flying by changing the rotation speed of the flight device (104) during the flight, the left flight device (104) rotates faster than the right flight device (104) to achieve a right turn, and the right flight device (104) rotates faster than the left flight device (104) to achieve a left turn; the high-speed camera (102) captures the picture in real time and sends it to the control device (3), and the control device (3) sends it to the main control console via the wireless communication line (101).

8. The control method of the multi-terrain detection and grasping integrated robot based on the bionic octopus according to claim 7 is characterized in that: The robot has a land mode; The land mode control process is as follows: If the current terrain is flat, the robot is controlled in flight mode; If the current terrain is complex terrain, the flight height of the robot is measured according to the air pressure, and when the robot falls to a certain height, the mechanical arm is controlled to unfold; the flight motor (113) is controlled to decelerate, and the robot lands on the ground; the mechanical arm is controlled to move, so that the robot can walk on the complex terrain; the complex terrain includes smooth ground and rugged ground; If the current terrain is a smooth ground, the suction cup motor (221) is controlled to work each time walking / climbing, so that the mechanical arm suction cup (219) is attached to the ground; When the terrain is rough, the flexible fingers (220) are controlled to grip and release each time walking / climbing; The high-speed camera (102) captures the images in real time and sends them to the control device (3), and the control device (3) sends them to the main control console via the wireless communication line (101).

9. A control method for a multi-terrain detection and grasping integrated robot based on a bionic octopus as claimed in any one of claims 1 to 6, characterized in that: The robot has an ocean exploration mode; The control process of the ocean exploration mode is as follows: controlling the robot to land on the sea surface, the floating ring (106) makes the robot float on the sea surface, the flight motor (113) stops rotating, the signal line (4) is released, and the leg device (2) falls into the sea; controlling the underwater propulsion device (203) to move, the leg device (3) sinks, and when a certain depth is detected by the pressure sensor, the mechanical arm is controlled to unfold and wait for the execution of the grasping task; during the seabed operation, seabed navigation is achieved by changing the rotation speed of the underwater propulsion device (203), the left underwater propulsion device (203) rotates faster than the right underwater propulsion device (203) to achieve the robot turning right, the right underwater propulsion device (203) rotates faster than the left underwater propulsion device (203) to achieve the robot turning left, and when the underwater propulsion devices (203) have the same speed, they can move forward and backward according to different directions; the picture captured by the underwater camera (202) in real time is sent to the control device (3) through the signal line (4), and the control device (3) sends it to the main control console through the wireless communication line (101).

Images