A biomimetic octopus-based integrated robot for multi-terrain exploration and grasping and its control method

Abstract

This invention relates to the field of robotics, and discloses a biomimetic octopus-based multi-terrain exploration and grasping integrated robot and its control method. The robot includes: a head unit equipped with a detection platform, a wireless communication cable, a high-speed camera, and a flight device; the wireless communication cable is installed on the detection platform for external communication, the high-speed camera is fixed to the side of the detection platform for detecting surrounding environmental information, and the flight device enables the robot's flight function; a leg unit, fixedly connected to the head unit via signal lines, is equipped with an underwater exploration chassis, an underwater camera, an underwater propulsion device, multiple robotic arms, and an end effector; the underwater propulsion device enables the robot's underwater movement, and the robotic arms and end effector enable the robot's grasping function; a control device controls the robot's overall movement and operation. This invention possesses excellent multi-terrain adaptability and can perform tasks underwater, at high altitudes, on land, and in complex terrains.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a multi-terrain detection and grasping integrated robot based on a biomimetic octopus and its control method. Background Technology

[0002] With the continuous advancement of technology and the diversification of task requirements, modern detection and grasping technologies are developing towards greater integration, intelligence, and multifunctionality. Traditional detection and grasping systems are mostly single-function devices, often requiring different equipment and tools for task switching. This not only increases operational complexity but also reduces operational efficiency and safety. In some special environments, such as underwater, high altitude, complex terrain, and confined spaces, traditional robot systems often face problems such as insufficient adaptability and poor flexibility, limiting their application scope. In recent years, bionics, as an innovative design concept, has been widely applied in the field of robotics. In particular, the locomotion of biomimetic organisms such as octopuses has provided new development directions for multi-terrain robots. As apex predators among marine creatures, octopuses, with their high flexibility, adaptability, and powerful grasping ability, can easily operate in complex environments. This characteristic provides valuable insights for robots in multi-terrain detection and grasping tasks.

[0003] Against this backdrop, developing a multi-terrain robot integrating detection and grasping functions, capable of flexibly performing tasks in diverse environments, holds significant application potential. By employing a biomimetic octopus-inspired motion design, combined with the characteristics of flight and underwater operations, an integrated robotic system has been developed. This system not only addresses the limitations of traditional systems in terms of adaptability but also improves task execution efficiency, reduces the complexity of equipment switching, and ensures operational safety and reliability. This technological innovation demonstrates enormous potential and market demand, particularly in fields such as geological exploration, disaster search and rescue, and environmental monitoring. Summary of the Invention

[0004] To address the problems of insufficient adaptability, frequent task switching, and low efficiency of existing robot systems in complex environments, this invention provides a multi-terrain detection and grasping integrated robot and its control method based on a biomimetic octopus.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A multi-terrain exploration and grasping integrated robot based on a biomimetic octopus includes: a head device, a leg device, and a control device;

[0007] The head unit is equipped with a detection platform, a wireless communication cable, a high-speed camera, and a flight device; the wireless communication cable is installed on the detection platform for communication with the outside world, the high-speed camera is fixed to the side of the detection platform for detecting information about the surrounding environment, and the flight device is used to enable the robot to fly.

[0008] The leg unit is fixedly connected to the head unit via signal lines and is equipped with an underwater detection chassis, an underwater camera, an underwater propulsion device, multiple robotic arms, and an end effector. The underwater propulsion device is used to realize the robot's underwater movement function, and the robotic arms and end effector are used to realize the robot's grasping function.

[0009] The control device is mounted on the head unit and includes an attitude sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, a barometric pressure sensor, and a microcontroller, used to control the overall movement and operation of the robot.

[0010] Furthermore, the head unit also includes a flight base and a floating ring; the floating ring is positioned at the edge of the flight base to allow the robot to float on the sea surface.

[0011] Furthermore, the head device also includes a signal line motor and a winding drum. The signal line is wound on the winding drum, and the signal line motor drives the winding drum to rotate, thereby extending and shortening the signal line.

[0012] Furthermore, the flight device includes 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 includes 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 equipped with multiple rotary joints to enable multi-degree-of-freedom movement of the robotic arm.

[0015] Furthermore, the end effector includes flexible fingers and a robotic arm suction cup for grasping objects of different shapes and materials.

[0016] A control method for a biomimetic octopus-based multi-terrain detection and grasping integrated robot, which has a flight mode;

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

[0018] Furthermore, the robot has a land-based mode;

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

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

[0021] If the current terrain is complex, the robot's flight altitude is measured based on air pressure. When the robot descends to a certain height, the robotic arm is deployed; the flight motor is decelerated, and the robot lands on the ground; the robotic arm is moved to enable the robot to walk on the complex terrain; the complex terrain includes smooth ground and rugged ground.

[0022] If the current terrain is a smooth surface, control the suction cup motor to work each time you walk / climb, so that the robotic arm's suction cup can adhere to the ground;

[0023] When on rough terrain, control the grip and release of your flexible fingers with each step / climb;

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

[0025] A control method for a biomimetic octopus-based multi-terrain exploration and grasping integrated robot, which has an ocean exploration mode;

[0026] The control process for the ocean exploration mode is as follows: The robot is controlled to land on the sea surface. A floating ring keeps the robot afloat, the flight motors stop rotating, a signal line is released, and the leg unit descends into the sea. The underwater propulsion device is controlled to move, the leg unit sinks, and when a certain depth is detected by a pressure sensor, the robotic arm extends and waits to perform a grasping task. During underwater operation, underwater navigation is achieved by changing the rotation speed of the underwater propulsion device. A higher rotation speed on the left underwater propulsion device results in a right turn, while a higher rotation speed on the right underwater propulsion device results in a left turn. When all underwater propulsion devices are at the same speed, forward and backward movement is achieved based on the different directions of rotation. Real-time images captured by the underwater camera are transmitted to the control device via a signal line, and the control device transmits the images to the main control console via a wireless communication line.

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

[0028] This invention discloses a biomimetic octopus-based multi-terrain exploration and grasping integrated robot and its control method. The robot includes a head unit, leg units, and a control unit. The head unit primarily enables the robot's flight and exploration, while the leg units are mainly used for climbing, grasping, and underwater exploration. The biomimetic octopus-based multi-terrain exploration and grasping integrated robot controls the head and leg units through the control unit to complete exploration tasks underwater, at high altitudes, on land, and in complex terrains. This invention possesses excellent multi-terrain adaptability, enabling it to perform tasks underwater, at high altitudes, on land, and in complex terrains. By mimicking the movement capabilities of an octopus through biomimetic design, the robot exhibits extremely high flexibility and grasping ability in confined spaces. Through an integrated control system, the robot can collaboratively operate the head and leg units to complete multi-functional tasks such as exploration, grasping, flight, and underwater operations. It is applicable to fields such as geological exploration, disaster search and rescue, and environmental monitoring, demonstrating strong application potential, reducing equipment switching, and improving work efficiency and safety. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a multi-terrain detection and grasping integrated robot based on a biomimetic octopus, according to one embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of the flight base in an embodiment of the present invention.

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

[0032] Figure 4 This is a schematic diagram of the leg device in an embodiment of the present invention.

[0033] Figure 5 This is a schematic diagram of the leg device in an embodiment of the present invention.

[0034] Figure 6 This is a schematic diagram of the structure of a multi-terrain detection and grasping integrated robot based on a biomimetic octopus, according to another embodiment of the present invention.

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

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

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

[0038] In the picture:

[0039] 1. Head assembly; 2. Leg assembly; 3. Control device; 4. Signal line; 100. Detection platform; 101. Wireless communication line; 102. High-speed camera; 103. Sealing cover; 104. Flight device; 105. Flight base; 106. Floating ring; 107. Signal line motor; 108. Cable reel; 109. Battery; 110. Water deflector; 111. Circular boss; 112. Flight rotor; 113. Flight motor; 114. Flight device support; 200. Underwater detection chassis; 201. Fixing hole; 202. Underwater camera; 203. Underwater propulsion device; 204. Underwater propulsion 205. Propeller; 206. Underwater propulsion motor; 207. Underwater motor bracket; 208. Robotic arm base; 209. First joint; 210. First 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. Robotic arm suction cup; 220. Flexible finger; 221. Suction cup motor; 222. Draw rope roller; 223. Draw rope motor; 224. Waterproof shell; 225. End effector motor; 226. Sub-controller. Detailed Implementation

[0040] A preferred embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[0041] This invention proposes an integrated robot for multi-terrain detection and grasping, and its control method. The technical solution is described in detail below.

[0042] 1. Overall Structure

[0043] A biomimetic octopus-based multi-terrain exploration and grasping integrated robot includes 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 by 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 assembly

[0045] The head unit (1) includes a detection platform (100), a wireless communication line (101), a high-speed camera (102), a sealing cover (103), a flight device (104), a flight base (105), a floating ring (106), a signal line motor (107), a cable reel (108), a battery (109), a water baffle (110), a circular boss (111), a flight rotor (112), a flight motor (113), and a flight device support (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 signals from the main control console and sending robot position information, and the high-speed camera (102) is fixed to the side of the detection platform (100) for detecting surrounding environmental information.

[0047] The sealing cover (103) has a hollow hole for mounting the flight device (104). The sealing cover (103) is fixed to the top of the flight base (105).

[0048] The flight base (105) has a floating ring (106) on its edge that allows the robot to float on the sea surface. The flight base (105) has a groove for fixing the control device (3). The groove of the flight base (105) has a battery (109) for powering the robot. The groove of the flight base (105) has a water baffle (110) for waterproofing. The water 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 cable reel (108) is fixedly connected to the shaft of the signal line motor (107). The cable reel (108) has a boss to prevent the signal line (4) from falling off. The signal line (4) is fixed to the cable reel (108). The signal line motor (107) extends and shortens the signal line (4) by driving the cable reel (108) to rotate.

[0049] The flight base (105) is provided with multiple holes for mounting the flight device (104). The edges of the holes of the flight device (105) are provided with annular bosses (111) to ensure flight safety. The bottom of the holes of the flight device (105) is provided with a flight bracket (114) for mounting the flight device (105). The flight device bracket (114) is a hollow structure used to guide the motor wiring.

[0050] The flight device (104) includes a flight motor (113) and a flight rotor (112). The flight motor is fixed above the flight support (114), and the flight rotor (112) is fixedly connected to the shaft of the flight motor (113).

[0051] 3. Structure of the leg device

[0052] The leg device (2) includes an underwater detection chassis (200), a fixing hole (201), an underwater camera (202), an underwater propulsion device (203), an underwater propulsion propeller (204), an underwater propulsion motor (205), an underwater motor bracket (206), a robotic 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 robotic arm suction cup (219), a flexible finger (220), a suction cup motor (221), a rope roller (222), a rope 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) through a fixing hole (201). The bottom of the underwater detection chassis (200) is provided with an underwater camera (202) for underwater detection. The underwater detection chassis (200) is provided with multiple holes for installing underwater propulsion devices (203). The edges of the holes of the underwater detection chassis (200) are provided with annular bosses. The bottom of the holes of the underwater detection chassis (200) is provided with an underwater motor bracket (206).

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

[0055] The underwater exploration chassis (200) has multiple robotic arm bases (207) fixed at its bottom. The first motor (209) is fixed to the first joint (208). The shaft of the first motor (209) is fixedly connected to the robotic arm base (207). The first joint (208) has a groove for folding the second joint (211). The first joint (208) has a boss that is fixedly connected to the shaft of the second motor (210).

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

[0057] The end effector (218) has a groove at one end for the end effector motor (225) to be fixedly connected, and a through hole at the other end for the shaft of the end effector motor (225) to rotate. The end effector (218) has a hollow structure, and a hollow control box at one end. The rope motor (223) is fixed inside the control box of the end effector (218).

[0058] The pull rope roller (222) is fixedly connected to the shaft of the pull rope motor (223). The pull rope roller (222) is provided with a baffle to prevent the pull rope from falling off. One end of the pull rope is fixedly connected to the pull rope roller (222). The flexible finger (220) is fixed to the outside of the end effector (218). The flexible finger (220) is a flexible structure and its top is fixed to the pull rope.

[0059] The flexible finger (220) controls the extension and retraction of the pull rope by rotating the pull rope roller (222) driven by the pull rope motor (223), thereby controlling the gripping and releasing of the flexible finger (220). The suction cup motor (221) is fixed inside the control box of the end effector (218), and the robotic arm suction cup (219) is fixedly connected to the suction cup motor (221) for adsorption of objects. The waterproof shell (224) is used to seal the control box of the end effector (218). The sub-controller (226) is fixed to the bottom of the underwater detection chassis (200) for controlling the various devices of the leg device (2).

[0060] 4. Structure of the control device

[0061] The control device (3) and sub-controller (226) are equipped with an attitude sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, a barometric 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 the signal line (4).

[0064] The number of flight devices (104) and underwater propulsion devices (203) is 4.

[0065] 6. Control methods

[0066] The present invention relates to a control method for a biomimetic octopus-based multi-terrain exploration and grasping integrated robot, which enables the robot to move and explore in the sky, ocean, land and complex terrain, including flight mode, ocean exploration mode and land mode.

[0067] The flight mode control process is as follows: the control device (3) controls the signal line motor (107) to drive the reel (108) to rotate and retract 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 robot's flight altitude is measured according to the air pressure. When the specified altitude is reached, the control device (3) sends a takeoff command to the sub-controller (226). The sub-controller (226) receives the command and 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 robotic arm retracts. During flight, the control device (3) achieves 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 achieve a right turn, and the right flight motor (113) rotates faster than the left flight motor (113) to achieve a left turn. The high-speed camera (102) captures images in real time and sends them to the control device (3), which then sends them to the main control console via a wireless communication line (101).

[0068] The control process of the ocean exploration mode is as follows: the control device (3) lands on 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 reel (108) to rotate and release the signal line (4), and the leg device (2) falls into the sea. The control device (3) sends the seabed exploration signal to the sub-controller (226), the sub-controller (226) receives the signal and controls the underwater propulsion motor (205) to move, the leg device (3) sinks, and when the pressure sensor detects that a certain depth has been reached, 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 robotic arm unfolds, and waits to perform the grasping task. During underwater operation, the sub-controller (226) achieves underwater navigation by changing the rotation speed of the four underwater propulsion devices (203). The left underwater propulsion device (203) rotates faster than the right underwater propulsion device (203) to make the robot turn right, and the right underwater propulsion device (203) rotates faster than the left underwater propulsion device (203) to make the robot turn left. The four underwater propulsion devices (203) move forward and backward at the same speed depending on the direction of rotation. The underwater camera (202) captures images in real time and sends them to the sub-controller (226). The sub-controller (226) sends the images to the control device (3) via the signal line (4). The control device (3) sends the images to the main control console via 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 robot's flight altitude based on air pressure. When the robot falls to a certain height, the sub-controller (226) controls the first motor (209), second motor (210), third motor (213), fourth motor (215), fifth motor (217), and end effector motor (225) to rotate, and the robotic arm unfolds. 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), second motor (210), third motor (213), fourth motor (215), fifth motor (217), and end effector motor (225) to rotate through the sub-controller (226), thereby enabling the robot to walk 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 robotic arm suction cup (219) adheres to the ground, improving walking safety and efficiency. When the ground is rugged, each time the walking / climbing control device (3) controls the rope pull motor (223) through the sub-controller (226) to drive the rope pull roller (222) to rotate, thereby contracting and releasing the rope so that the flexible finger (220) can grip and release, improving walking safety and efficiency. The high-speed camera (102) captures images in real time and sends them to the control device (3), which then sends them to the main control console via the wireless communication line (101).

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

[0071] Smooth surfaces: Surfaces with smooth surfaces and low friction, such as ice and glass.

[0072] Rugged terrain: complex terrain with large undulations and irregular surfaces, such as construction sites and hillsides.

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

[0074] More strictly speaking, flat and rugged surfaces are distinguished based on changes in elevation and slope. If the changes in elevation and slope per unit length exceed a set value, the surface is considered rugged; if they are less than the set value, it is considered flat. Smooth surfaces refer to surfaces with a surface roughness less than a set value.

[0075] It will be apparent 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 invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0076] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-terrain detection and grasping integrated robot based on a biomimetic octopus, characterized in that, include: Head device (1), leg device (2) and control device (3); The head unit (1) is equipped with a detection station (100), a wireless communication line (101), a high-speed camera (102), and a flight device (104); the wireless communication line (101) is installed on the detection station (100) for communication with the outside world, the high-speed camera (102) is fixed to the side of the detection station (100) for detecting surrounding environmental information, and the flight device (104) is used to realize the robot's flight function; 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), multiple robotic arms and end effectors (218). The underwater propulsion device is used to realize the robot's underwater movement function, and the robotic arms and end effectors are used to realize the robot's grasping function. The control device (3) is installed on the head device (1) and is equipped with an attitude sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, a barometric pressure sensor and a microcontroller, which are used to control the overall movement and operation of the robot. The head device (1) also includes a signal line motor (107) and a winding drum (108). The signal line (4) is wound on the winding drum (108). The signal line motor (107) drives the winding drum (108) to rotate, thereby extending and shortening the signal line (4). The end effector includes a flexible finger (220) and a robotic arm suction cup (219) for grasping objects of different shapes and materials; The head device (1) also includes a flight base (105) and a floating ring (106); the floating ring (106) is set at the edge of the flight base (105) to make the robot's head device float on the sea surface and the leg device (2) fall into the sea.

2. The biomimetic octopus-based multi-terrain detection and grasping integrated robot according to claim 1, characterized in that, The flight device (104) includes a flight motor (113) and a flight rotor (112); the flight rotor (112) is fixedly connected to the rotating end of the flight motor (113); The underwater propulsion device (203) includes 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).

3. The biomimetic octopus-based multi-terrain detection and grasping integrated robot according to claim 1, characterized in that, The robotic arm is equipped with multiple rotary joints to enable multi-degree-of-freedom movement.

4. A control method for a biomimetic octopus-based multi-terrain detection and grasping integrated robot as described in any one of claims 1 to 3, characterized in that, The robot has a flight mode; The flight mode control process is as follows: retract the signal line (4) to tighten the leg device (2); control the robot to take off, measure the robot's flight altitude according to the air pressure, and control the mechanical arm to retract when the specified altitude is reached; during flight, the flight is achieved by changing the rotation speed of the flight device (104), 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 image in real time and sends it to the control device (3), and the control device (3) sends it to the main console through the wireless communication line (101).

5. The control method for the biomimetic octopus-based multi-terrain detection and grasping integrated robot according to claim 4, characterized in that, The robot has a land mode; The land mode control process is as follows: If the current terrain is flat, then the robot is controlled in flight mode; If the current terrain is complex, the robot's flight altitude is measured based on air pressure. When the robot falls to a certain height, the robotic arm is deployed. The flight motor (113) is decelerated, and the robot lands on the ground. The robotic arm is moved to enable the robot to walk on complex terrain. The complex terrain includes smooth ground and rugged ground. If the current terrain is a smooth surface, control the suction cup motor (221) to work each time you walk / climb, so that the robotic arm suction cup (219) can adhere to the ground; When on rough terrain, control the gripping and releasing of the flexible fingers (220) with each step / climb; The high-speed camera (102) captures images in real time and sends them to the control device (3), which then sends them to the main control console via a wireless communication line (101).

6. A control method for a biomimetic octopus-based multi-terrain detection and grasping integrated robot as described in any one of claims 1 to 3, characterized in that, The robot has an ocean exploration mode; The control process of the ocean exploration mode is as follows: control 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, release the signal line (4), and the leg device (2) falls into the sea; control the underwater propulsion device (203) to move, the leg device (2) sinks, and when the pressure sensor detects that a certain depth has been reached, control the mechanical arm to unfold and wait to perform the grasping task; during the seabed operation, the underwater 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, and the right underwater propulsion device (203) rotates faster than the left underwater propulsion device (203) to achieve the robot turning left. When the underwater propulsion devices (203) have the same speed, they can move forward and backward according to different directions; the images captured in real time by the underwater camera (202) are sent to the control device (3) through the signal line (4), and the control device (3) sends them to the main control console through the wireless communication line (101).

Images