Underwater angle-limitation-free multi-scene operation software robot

Abstract

The underwater angle-limitation-free multi-scene operation soft robot comprises an outer main body, the outer main body is composed of a soft body and a main shell wrapping the soft body, a control module is arranged in the soft body, and propelling power devices are installed on the two sides of the outer main body in an embedded mode; the edge of the main shell is connected with a skirt band device, and a sensing assembly is carried on the skirt band device; and an adsorption device is embedded in the belly part of the outer main body. Through the design of collaborative integration of propelling, sensing and adsorption, the high-flexibility and high-fitting-degree operation requirements are met, and meanwhile the high-integration requirements of propelling control, sensing feedback, adsorption attachment and rapid maintenance are considered.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and in particular relates to a soft robot for multi-scenario operations without angular restrictions underwater. Background Art

[0002] With the continuous growth of the global demand for renewable energy, the development and utilization of marine energy and resources have become the key directions of research and industrial development, covering various forms such as offshore wind energy, tidal energy, and wave energy. During the process of marine energy development, the operation links such as equipment installation, operation and maintenance, and resource collection are becoming increasingly complex, posing higher requirements for the flexibility, precision, and environmental adaptability of operation equipment. For example, for the floating wind turbines in the shallow sea area for offshore wind power generation, equipment installation and maintenance operations need to be carried out frequently. To improve operation efficiency and reduce the risk of manual intervention, it is urgent to deploy underwater robots with autonomous navigation and operation capabilities to achieve precise inspection, cleaning, and maintenance tasks for wind power facilities. In addition, there are a large number of strategic mineral resources hidden in the seabed, such as polymetallic nodules, cobalt-rich crusts, and combustible ice. These resources are widely distributed in complex seabed terrains. Traditional underwater collection equipment usually adopts a rigid structure and a single operation mode, resulting in difficulty in achieving precise operations and often causing greater disturbance to the seabed environment.

[0003] Therefore, developing an underwater robot that can adapt to complex terrains and has high-precision operation capabilities is of great significance for the deployment and maintenance of offshore projects and the exploration and exploitation of mineral resources. Existing underwater robot systems mainly rely on tentacle-type hydraulic drives or rigid module combinations, lacking the systematic integration ability for multiple tasks such as propulsion, perception, and grasping, and it is difficult to meet the high-precision operation requirements in complex underwater environments. The hydraulic drive structure has a lagging response, limited by the inertia and energy consumption of the fluid control system, and cannot achieve high-frequency and dynamic feedback control.

[0004] In Chinese Patent Document CN107031807A, an underwater jellyfish-like robot based on a soft actuator is disclosed, which includes a sealed cabin at the upper end, a fixing device at the lower end, and a control unit and a soft propulsion unit; the sealed cabin is fixedly connected to the fixing device; the soft propulsion unit includes soft tentacles and pipes connected to the soft tentacles; the soft tentacles are evenly fixedly installed around the upper end of the fixing device and serve as the flexible actuators of the entire robot; the control unit is used to control the supply or cut-off of pressurized fluid to the soft tentacles through the pipes, so that single or multiple soft tentacles deform to make the entire robot change direction or move. The soft tentacles simulate the stretching and contraction of jellyfish tentacles, resulting in a large deformation amplitude of the soft tentacles and enhancing the driving force.

[0005] However, in the specific process of use, due to the single motion mode of only contraction and propulsion, it cannot adjust the attitude arbitrarily in three-dimensional space, which may lead to delayed motion response, difficulty in passing through narrow areas, and easy entanglement of the cable in more complex areas. In Chinese patent document CN109552581A, an underwater bionic multi-sea squirt combined soft robot is disclosed, which includes two end connectors and at least one intermediate connector arranged between the two end connectors. The end connectors and the intermediate connectors both include an elastic outer shell, an ultrasonic sensor, a vision sensor camera, a first electromagnet, a controller, a storage battery, and a plurality of bubble drivers. The elastic outer shell of the end connector is a hemispherical outer shell and a cylindrical outer shell connected together, and the elastic outer shell of the intermediate connector is a cylindrical outer shell. The first electromagnets are respectively arranged at the ends of the cylindrical outer shell of the end connector and at both ends of the cylindrical outer shell of the intermediate connector. The bubble driver includes a bubble outer shell, an elastic skin, a magnet, and a second electromagnet, and can work in combination and disassemble synergistically in a complex underwater environment.

[0006] The above technical solution can, to a certain extent, solve problems such as relatively large resistance of underwater robots, easy entanglement of cables, and poor adaptability. However, in the specific process of use, due to the relatively scattered layout of information collection, low signal integration, and easy occurrence of perception faults due to water flow interference, it is difficult to achieve high-density and multi-modal perception coverage in the attached state. Especially in continuous observation and target surface exploration tasks, there is a lack of stable body-attached perception ability.

[0007] Therefore, it is necessary to design and develop an underwater operation robot that integrates propulsion, perception, and adsorption synergistically, which can meet the high-flexibility and high-fitting operation requirements while taking into account the highly integrated requirements of propulsion control, perception feedback, adsorption attachment, and quick maintenance. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide a soft robot for underwater multi-scenario operation without angle limitation that integrates propulsion, perception, and adsorption synergistically.

[0009] To solve the above technical problem, the technical solution adopted by the present invention is: a soft robot for underwater multi-scenario operation without angle limitation, which includes an outer main body. The outer main body is composed of a soft body and a main shell wrapped outside the soft body. A control module is arranged inside the soft body, and propulsion power devices are embedded and installed on both sides of the outer main body; a skirt device is connected to the edge of the main shell, and a sensing component is carried on the skirt device; an adsorption device is embedded in the abdomen of the outer main body.

[0010] The software body and the main housing are composed of a composite of flexible elastic materials and reinforcing fibers, which have high deformability and seawater corrosion resistance while ensuring compressive strength. Together with the modular designed propulsion power device, skirt device and adsorption device, the energy utilization efficiency is significantly improved; the embedded design of the propulsion power device can generate vector component forces, enabling the present invention to complete vertical lifting, lateral translation, hovering and other actions in various complex environments, breaking through the bottleneck of the limited steering angle of traditional underwater robots, and is particularly suitable for the multi-angle operation requirements of complex terrains; the skirt device connected to the edge of the main housing is equipped with a sensing component. Through the flexible connection structure and elastic buffer layer design, passive deformation buffering is generated when encountering water flow impact or collision, ensuring stable data collection of the sensor in a dynamic environment and significantly improving the accuracy of operation decision-making in complex environments; the adsorption device is arranged on the abdomen of the outer body, and performs operations such as grasping and winding in cooperation with the soft characteristics of the present invention itself, enabling the present invention to synchronously adapt to different hardness and curvature surfaces such as rock reefs, sediments, and biological surfaces, and still maintain stable adsorption in a dynamic sea current environment. The adsorption success rate is increased by more than 40% compared with traditional rigid suction cups, meeting the grasping requirements of multiple scenarios such as resource collection and equipment installation; this integrated design of propulsion, perception and adsorption enables the present invention to meet the high-flexibility and high-conformity operation requirements while taking into account the highly integrated requirements of propulsion control, perception feedback, adsorption attachment and quick maintenance.

[0011] Preferably, the propulsion power devices are symmetrically distributed on the left and right sides of the main housing. Each side includes at least two groups of main thrusters and two groups of auxiliary thrusters. The main thrusters and the auxiliary thrusters on the same side are arranged in a trapezoidal pattern as a whole; the main thrusters are embedded in the middle of the outer body at an angle of 43-46 degrees inclined towards the inside of the software body, and the auxiliary thrusters are embedded in the front and rear ends of the outer body.

[0012] The embedded design avoids damaging the body streamline, adaptively deforms and maintains stable power output during propulsion, improves propulsion stability in a water flow disturbance environment, enabling the robot to stably hover or perform attachment movement along a curved surface structure, rather than being forced to intermittently propel; through the installation angle and trapezoidal arrangement design of the main thrusters and the auxiliary thrusters, a spatial thrust vector matrix is formed by the thruster group, enabling the robot to achieve precise three-dimensional attitude adjustment, ensuring that the fuselage can achieve various stable three-dimensional movements (including rolling, fixed-point rotation, moving up, down, left and right, etc.), and can seamlessly switch between forward, sideward, pitching composite motion modes in various operation scenarios to meet the working requirements of different scenarios.

[0013] Preferably, the size of the main thruster is larger than that of the auxiliary thruster; both thrusters are screw thrusters; the screw thruster includes blades, a propeller, and a rotating shaft. One end of the rotating shaft is connected to the soft body through a local rigid chamber, the other end of the rotating shaft is connected to the propeller, and the blades are arranged on the propeller.

[0014] The thrusters are embedded in the body structure and work together with the internal rigid chamber to form a flexible-rigid coupling system; the design of the size difference between the main thruster and the auxiliary thruster endows the robot with strong dynamic adjustment ability, enabling it to complete fine operations such as local detouring and rotation in complex environments; the design of the screw thruster enables the robot to control the angle and rotational speed differences of the thrusters, enabling the robot to achieve various dynamic operation modes including local rotation, obstacle avoidance steering, and screw propulsion when performing tasks, enabling the robot to perform tasks in complex environments such as the installation, maintenance, and ecological monitoring of offshore facilities, meeting the working requirements of different scenarios.

[0015] Preferably, the skirt device is arranged annularly around the outer edge of the main housing, and the sensing component is a multi-mode sensor array embedded inside the skirt device; an independent battery pack is also arranged in the back area of the outer body as a backup power supply for the skirt device.

[0016] The skirt device is arranged annularly around the outer edge of the main housing, adapting to irregular, dynamic, or soft underwater surfaces using a flexible structure; the low-power multi-mode sensor array (such as a fish-eye vision module, a thermosalinograph, a turbidity and microfluidic field sensor) embedded inside the skirt device can collect water environment information, local images, and flow field disturbance data in real time. This design effectively improves the information collection density, makes up for the deficiency of perception ability in the prior art, and can achieve all-round underwater environment perception; the skirt device is also equipped with a battery pack as a backup power supply. The battery pack uses flexible lithium polymer materials and has the characteristics of being bendable, pressure-resistant, and water-resistant. It can maintain the low-frequency working state of the skirt sensors in the case of main power failure or outside the main control scheduling, realizing the collection and asynchronous transmission of redundant observation data, and improving the stability and reliability of the equipment.

[0017] Preferably, the total width of the skirt device is 4 - 6 cm, and the total length does not exceed 60% of the height of the main housing.

[0018] This design fully considers the cooperation and coordination with the main housing, avoiding interference with the abdominal suction cups and the thruster operation area, effectively increasing the sensing coverage range of the skirt device, increasing the adaptability of the skirt to the environment without affecting other functions, and optimizing the performance of underwater operations.

[0019] Preferably, the adsorption device includes a plurality of suction cups arranged in a spiral shape, and a soft base located below the plurality of suction cups. The soft base is connected to the abdomen of the outer main body; each suction cup includes a fitting suction cup and a wrapping film located at the upper end of the fitting suction cup, and a plurality of channels are provided on the wrapping film.

[0020] The suction cups are arranged in a spiral shape and are connected to the abdomen of the outer main body in cooperation with the soft base, which can automatically adjust according to the shape change of the target surface. It is particularly suitable for irregular, dynamic or soft surfaces. This design can effectively fit the seabed surface such as reefs, coral communities and the body surfaces of aquatic organisms, overcome the limitations of traditional adsorption devices, adapt to complex environments, and improve the flexibility and reliability of operations; the design of the wrapping film and channels can effectively increase the friction force on the object and play a role in protecting the suction cups; the channels on the wrapping film do not affect the sensitivity of the suction cups, but instead improve the adsorption stability by enhancing the friction force, enhance the durability of the adsorption device, and avoid damage caused by direct contact with environmental objects.

[0021] Preferably, the plurality of suction cups are divided into a plurality of cluster units according to regions, and each suction cup corresponds to one of the cluster units; each cluster unit is embedded with a set of micro servo driver and shape memory alloy linkage structures.

[0022] This design can achieve independent control of local areas, which endows the robot with higher flexibility. It can perform local adaptive adsorption and release operations according to the different shapes and characteristics of the target surface. Compared with the traditional single control system, this regional control method significantly improves the response ability of the system; the design of the shape memory alloy element enables the suction cup to quickly contract after being energized and achieve local negative pressure through the micro valve system, thereby increasing the adsorption force. The "memory" characteristic of the shape memory alloy enables the adsorption device to quickly respond and perform precise control of adsorption and release without affecting the operations of other areas. This design helps to improve the overall adsorption force, especially when dealing with more complex and dynamic targets, it can provide higher grasping accuracy and reliability; each cluster is controlled by an embedded neural network unit, combined with the data feedback of local tactile sensors, vision modules and inertial measurement units, it can achieve rapid adaptive action adjustment; enabling multi-point synchronous grasping and dynamic release on irregular, soft or dynamic surfaces, breaking through the problem of unstable adsorption of traditional suction cups in these environments.

[0023] Preferably, a maintenance window is also provided at the top of the outer body. The maintenance window includes a window body, a sealing ring, and a spiral buckle. The window body is arranged on the outer body, and a sealing ring is connected to the outside of the window body. The window body and the sealing ring are screwed into the inside of the outer body through the spiral buckle. The sealing ring is a double-ring rubber gasket, which includes an inner ring and an outer ring. The inner ring fits against the outer edge of the window body, and the outer ring is pressed against the soft body.

[0024] The design of the maintenance window significantly improves the maintenance convenience, sealing performance, shock resistance and multi-functional adaptability of the equipment, and is particularly suitable for operation and maintenance in complex underwater and marine environments.

[0025] Preferably, the control module is connected below the maintenance window, and a buffer layer is also provided between the control module and the maintenance window. The buffer layer is composed of a transparent gelatinous material and fits against the outer surface of the control module to form a stable crimping area.

[0026] The control module issues control instructions; the transparent gelatinous buffer layer, as a soft structure, can effectively buffer external impact forces. This buffer design helps to protect the internal control module and connecting lines from external forces and ensures the stable operation of the system in complex environments.

[0027] Preferably, a module stabilization system based on a highly viscous soft mucosal material is provided inside the outer body. The module stabilization system is used to wrap the circuits and other internal components of the machine and form a highly adherent interface with the material inside the soft body.

[0028] The module stabilization system solves the technical problems in existing flexible underwater robots, such as the module components being prone to displacement due to interference, unstable connections, and lack of compliant fitting methods. It is made of a polymer gel material resistant to the seawater environment, with excellent adhesion performance and reversible detachable ability. The surface adhesion force can reach 3.2 N / cm 2 , and can stably fix the module components without the aid of a rigid support, especially suitable for the inside of the soft body structure of the present invention. In terms of the dual anti-interference ability of dynamic and steady states, through the wrapped flexible fitting structure, the mucosa can effectively suppress the relative displacement of the components and maintain the stability and signal continuity of the connecting lines in dynamic situations such as the swaying, rolling, and water flow disturbance during the operation of the robot.

[0029] Tests show that in the composite disturbance environment of 0.5g linear vibration and 0.6m / s lateral flow velocity, the maximum displacement of the module box is less than 2mm, and no loosening or interruption occurs in the internal connectors. In terms of adaptive fitting and stress buffering capabilities, the mucosal material has high elasticity and viscosity, and can deform synchronously with the main body during structural deformation, avoiding the stress damage of the module caused by the concentration of tension in traditional rigid brackets and extending the service life of the equipment. In terms of the convenience of modular disassembly and assembly, compared with permanent bonding materials, this mucosa has controllable desorption properties, and component replacement and maintenance can be achieved by gently peeling off with external force at room temperature without the intervention of tools, improving the operation and maintenance efficiency.

[0030] The mucosal structure reduces the dependence on traditional mechanical fasteners, simplifies the assembly process and reduces costs, and shows excellent cost control capabilities in repeated use and mass production. At the same time, it reduces the risk of task interruption caused by cable detachment or interface loosening, improves the success rate of task execution, and effectively reduces the time loss and economic loss caused by equipment failure. This design avoids the waste of consumables and repeated sealing treatment caused by frequent disassembly of the main body structure, extends the equipment life cycle, reduces maintenance costs, and improves operation efficiency. Brief Description of the Drawings

[0031] The following is a further detailed description in conjunction with the drawings and the embodiments of the present invention:

[0032] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0033] Figure 2 is Figure 1 a side view of the main thruster in

[0034] Figure 3 is Figure 1 a side view of the auxiliary thruster in

[0035] Figure 4 is Figure 3 an enlarged structural schematic diagram;

[0036] Figure 5 is Figure 1 a structural schematic diagram of the maintenance skylight in

[0037] Figure 6 is Figure 1 a side view of the suction cup array in

[0038] Wherein: 1 - outer main body, 2 - soft body, 3 - main housing, 4 - control module, 5 - power device, 6 - skirt device, 7 - sensing component, 8 - adsorption device, 9 - main thruster, 10 - auxiliary thruster, 11 - local rigid chamber, 12 - battery pack, 13 - suction cup, 14 - soft base, 15 - fitting suction cup, 16 - wrapping film, 17 - maintenance window, 18 - window body, 19 - sealing ring, 20 - spiral buckle, 21 - inner ring, 22 - outer ring, 23 - buffer layer, 24 - blade, 25 - propeller, 26 - rotating shaft. Detailed implementation manner

[0039] As shown in the Figures 1-6 accompanying drawings, a soft robot for underwater multi-scene operation without angular limitation in this embodiment includes an outer main body 1, which is composed of a soft body 2 and a main housing 3 wrapped outside the soft body 2. A control module 4 is arranged inside the soft body 2, and propulsion power devices 5 are embedded and installed on both sides of the outer main body 1; a skirt device 6 is connected to the edge of the main housing 3, and a sensing component 7 is carried on the skirt device 6; an adsorption device 8 is embedded in the abdomen of the outer main body 1.

[0040] The propulsion power devices 5 are symmetrically distributed on the left and right sides of the main housing 3. Each side includes at least two groups of main thrusters 9 and two groups of auxiliary thrusters 10. The main thrusters 9 and the auxiliary thrusters 10 on the same side are arranged in a trapezoidal layout as a whole.

[0041] Specifically as shown in Figure 2 and Figure 3 the accompanying drawings, the main thrusters 9 are embedded in the middle of the outer main body 1 at an angle of 43 - 46 degrees inclined towards the inside of the soft body 2, and the auxiliary thrusters 10 are embedded at the front and rear ends of the outer main body 1. The size of the main thrusters 9 is larger than that of the auxiliary thrusters 10; the thrusters are all screw thrusters.

[0042] The screw thruster is specifically as shown in Figure 4 the accompanying drawings. The screw thruster includes blades 24, a propeller 25 and a rotating shaft 26. One end of the rotating shaft 26 is connected to the soft body 2 through a local rigid chamber 11, the other end of the rotating shaft 26 is connected to the propeller 25, and blades 24 are arranged on the propeller 25. It should be noted that the propellers on the screw thrusters are embedded designs to avoid damaging the streamline of the robot, and a micro servo device is arranged on each propeller 25 to adjust the angle of the blades 24 to ensure various stable three-dimensional motions of the fuselage, including rolling, fixed-point rotation and moving up, down, left and right, etc.

[0043] As shown in Figure 1As shown, the skirt device 6 is annularly arranged around the outer edge of the main housing 3, and the sensing component 7 is a multi-mode sensor array embedded inside the skirt device 6; an independent battery pack 12 is also provided in the back area of the outer main body 1 as the backup power supply for the skirt device; the total width of the skirt device 6 is 4 - 6 cm, and the total length does not exceed 60% of the height of the main housing.

[0044] Specifically, as Figure 6 shown, the adsorption device 8 includes a plurality of suction cups 13 arranged in a spiral pattern, and a soft base 14 located below the plurality of suction cups 13. The soft base 14 is connected to the abdomen of the outer main body 1; the suction cup 13 includes a fitting suction cup 15 and a wrapping film 16 located at the upper end of the fitting suction cup 15, and a plurality of channels are provided on the wrapping film 16.

[0045] The plurality of suction cups 13 are divided into a plurality of cluster units by region, and each suction cup 13 corresponds to one of the cluster units; a set of micro servo driver and shape memory alloy linkage structures are embedded in each cluster unit.

[0046] An inspection window 17 is also provided at the top of the outer main body 1. The inspection window 17 includes a window body 18, a sealing ring 19, and a spiral buckle 20; the window body 18 is provided on the outer main body 1, a sealing ring 19 is connected to the outside of the window body 18, and the window body 18 and the sealing ring 19 are screwed into the inside of the outer main body 1 through the spiral buckle 20; the sealing ring 19 is a double-ring rubber gasket, and the double-ring rubber gasket includes an inner ring 21 and an outer ring 22. The inner ring 21 fits to the outer edge of the window body 18, and the outer ring 22 presses against the soft body 2.

[0047] A control module 4 is connected below the inspection window 17. A buffer layer 23 is also provided between the control module 4 and the inspection window 17. The buffer layer 23 is made of a transparent gelatinous material and fits to the outer surface of the control module 4 to form a stable crimping area; the buffer layer 23 is used to cooperate with the transparent window body 18 so that the body information fed back on the control module 4 can be observed without opening the window body 18.

[0048] A module stabilization system based on a highly viscous soft body mucosa is provided inside the outer main body 1. The module stabilization system is used to wrap the circuits and other internal machine components and form a high-adhesion interface with the materials inside the soft body.

[0049] The verification of the fixing effect of the mucosa adhesion structure of the module stabilization system during the dynamic propulsion process. During the continuous 15-minute high-frequency propulsion and tumbling test, the robot needs to keep the internal modules fixed to avoid connection loosening. A layer of polymer film is pre-fitted to the outer shell of each module, and after being inserted into the housing, an adhesive contact surface is formed, and the average contact area is 2600 mm 2 ², and the unit pressure is about 4.2 kPa. This film can be peeled off repeatedly 5 times, and the viscosity loss is less than 8%.

[0050] During the propulsion mission, the robot enters the dynamic roll state, and the propulsion system outputs vectors at irregular angles. At this time, the internal control module 4, the battery pack 12, and the sensing wire harness board are all attached to the internal structure cavity through a polymer self-adhesive film body. The film body material is a seawater-stable polyethylene-butyl rubber composite layer, which has high viscosity, anti-water flow disturbance characteristics, and allows local deformation of ±3°. During the vibration process, the film body exhibits extremely strong buffering ability and adhesion retention. During the 15-minute continuous propulsion process, the maximum displacement deviation of the internal module is 1.3 mm, no connection loosening occurs, and the data packet loss rate is 0%. Compared with the traditional screw or clamping structure, the error under vibration interference is reduced by 65%, and the assembly time is reduced by 45%.

[0051] In the specific use process, taking the underwater wind turbine foundation components in an offshore wind farm as an example, after the present invention is started, the built-in inertial navigation system and the skirt device 6 work together, and three-dimensional path planning is carried out through a pre-set algorithm. The variable pitch screw propellers embedded on both sides gradually adjust the rotation speed and propulsion angle, so that the robot maintains stable navigation in the non-linear flow field and dynamically adjusts its attitude. When approaching the wind power foundation base, the robot enters the attachment operation mode, the adsorption device 8 slightly opens, and the suction cups 13 and the soft base 14 in the internal load-bearing structure are released; at this time, the robot controls the adsorption device 8 to contract synergistically through the control module 4, causing the front section of its body to bend slightly, so as to fit the irregular curved surface of the base. Under the conditions of wind and wave level 2-3 and water flow velocity of 0.7 m / s, the average single-task duration for the robot to complete 6 attachment and installation operation tasks is 14.7 minutes, the average error is 0.42 cm, and the attachment stability is good.

[0052] Taking the example of the robot completing non-destructive adsorption and extraction of a single target nodule in a complex landform in a seabed mining area at a depth of about 35 meters, when the target approaches, the robot locks the target position and adjusts its attitude through the skirt device 6, and the suction cup arrays on the adsorption device 8 start to be preliminarily activated. The adsorption device 8 is composed of more than 300 dielectric elastomer drive units, arranged in a spiral shape and divided into 6 adsorption cluster groups. Once attached, the corresponding area of the cluster group will be locally sunken, and the adsorption device 8 is stimulated by a controlled voltage to generate a negative pressure of about 0.08 MPa, providing a total adsorption force of nearly 7500 N. The shape memory alloy chain adsorption device 8 is activated simultaneously to ensure the grasping and adjustment ability in the presence of irregularities or sediment interference on the nodule surface. In an artificial deep-water simulated mining area, 30 nodules are collected, with an average mass of 540 g. The successful collection rate is 96.7%, the single collection time does not exceed 38 seconds, and the grasping stability is good. Compared with the traditional rigid claw, the surface damage rate is reduced by about 67%.

[0053] Taking the ecological observation of offshore artificial fish reefs as an example, the robot needs to hover around the offshore artificial fish reefs for 3 hours to monitor the species behavior of fish schools and long-term record the microenvironment parameters (temperature, pH, salinity, etc.). In the present invention, the skirt device 6 is fixed to the main housing 3 through a flexible connection film by hot pressing welding, and the sensor data is transmitted back to the control module. The movement of the skirt device 6 is controlled by a micro linear driver, and its dynamic response time is 0.2 seconds, and it can work continuously for more than 6 hours. When the robot approaches the fish reef, it actively reduces the power of the main thruster 9 and activates the floating hover module of the skirt device 6. This structure is a flexible silicone skirt around the body side, with a flexible sensing electrode array and a micro fluid stabilizing fin integrated inside. The skirt device 6 can swing within a range of ±25° through differential pressure adjustment, automatically adjust the force area under water flow fluctuations, achieve stable floating, and keep the front observation area aligned with the target. After the sensor module is started, it records data at a frequency of 1Hz. The power supply circuit of the skirt device 6 is isolated from the main system power supply to improve the power supply stability. The robot stably suspends and operates in the area with a water depth of 9.8 meters in the offshore for 3 hours, and the integrity rate of the recorded parameters is 99.1%. 12 species of fish are identified by image recognition. The system temperature rise is well controlled, and the environmental stability is extremely high, which is suitable for long-term ecological assessment.

[0054] In the specific embodiments described above, the purpose, technical solutions and beneficial effects of the present invention have been further described in detail. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the present invention; any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A soft robot for multi-scenario operations without angular restrictions underwater, comprising an outer main body, the outer main body being composed of a soft body and a main housing wrapped around the outside of the soft body, and a control module being arranged inside the soft body, characterized in that, On both sides of the outer body, propulsion power devices are embedded and installed; at the edge of the main housing, a skirt device is connected, and a sensing component is carried on the skirt device; an adsorption device is embedded in the abdomen of the outer body.

2. The soft robot for multi-scenario operations without angular limitation underwater according to claim 1, wherein, The propulsion power devices are symmetrically distributed on the left and right sides of the main housing. Each side includes at least two main thrusters and two auxiliary thrusters. The main thrusters and the auxiliary thrusters on the same side are arranged in a trapezoidal pattern as a whole; the main thrusters are embedded in the middle of the outer body at an angle of 43 - 46 degrees inclined towards the inside of the soft body, and the auxiliary thrusters are embedded at the front and rear ends of the outer body.

3. The soft robot for multi-scenario operation without angular limitation underwater according to claim 2, wherein The size of the main thrusters is larger than that of the auxiliary thrusters; the thrusters are all screw thrusters; the screw thrusters include blades, propellers, and rotating shafts. One end of the rotating shaft is connected to the soft body through a local rigid chamber, the other end of the rotating shaft is connected to the propeller, and the blades are arranged on the propeller.

4. The soft robot for multi-scenario operation without angular limitation underwater according to claim 1, wherein, The skirt device is arranged annularly around the outer edge of the main housing, and the sensing component is a multi-mode sensor array embedded inside the skirt device; an independent battery pack is also arranged in the back area of the outer body as a backup power supply for the skirt device.

5. The soft robot for multi-scenario operation without angular limitation underwater according to claim 4, wherein, The total width of the skirt device is 4 - 6 cm, and the total length does not exceed 60% of the height of the main housing.

6. The soft robot for multi-scenario operation without angular limitation underwater according to claim 1, characterized in that The adsorption device includes a plurality of suction cups arranged in a spiral pattern, and a soft base located below the plurality of suction cups. The soft base is connected to the abdomen of the outer body; the suction cups include fitting suction cups, and a wrapping film located at the upper end of the fitting suction cups. A plurality of channels are arranged on the wrapping film.

7. The soft robot for multi-scenario operations without angular limitation underwater according to claim 6, characterized in that, The plurality of suction cups are divided into a plurality of cluster units by region, and each suction cup corresponds to one of the cluster units; each cluster unit is embedded with a set of micro servo driver and shape memory alloy linkage structure.

8. The soft robot for multi-scenario operations without angular restrictions underwater according to claim 1, wherein, An inspection window is also arranged on the top of the outer body. The inspection window includes a window body, a sealing ring, and a screw buckle; the window body is arranged on the outer body, the sealing ring is connected to the outside of the window body, and the window body and the sealing ring are screwed into the inside of the outer body through the screw buckle; the sealing ring is a double-ring rubber gasket, and the double-ring rubber gasket includes an inner ring and an outer ring. The inner ring fits on the outer edge of the window body, and the outer ring presses against the soft body.

9. The soft robot for multi-scenario operation without angular limitation underwater according to claim 8, wherein The control module is connected below the inspection window, and a buffer layer is also arranged between the control module and the inspection window. The buffer layer is composed of a transparent gelatinous material and fits on the outer surface of the control module to form a stable crimping area.

10. A soft robot for multi-scenario operations without angular limitation underwater according to any one of claims 1-9, characterized in that, A module stabilization system based on a highly viscous soft body mucosa is arranged inside the outer body. The module stabilization system is used to wrap the circuits and other internal machine components and form a highly adherent interface with the materials inside the soft body.

Images