Multi-angle bionic penguin underwater detection robot

Abstract

The invention relates to a multi-angle bionic penguin underwater detection robot, which comprises a streamline fuselage shell, a flow guide front cover shell, an RGB-D camera photogrammetry holder, a bionic flapping wing transmission mechanism, a propeller auxiliary propulsion device, a sinking and floating device and a shunting fin, and is characterized in that the streamline fuselage shell is of a bionic penguin streamline structure and is used for reducing water flow resistance; the flow guide front housing is installed on the top of the front end of the streamline fuselage shell and used for guiding water flow. The underwater hull detection robot which is efficient, low in noise, high in maneuverability and high in sensitivity is achieved by simulating the streamline shape of a penguin and the flapping wing movement mechanism and matching with the RGB-D camera photogrammetry holder. The defects that an existing traditional underwater robot is poor in maneuverability, weak in anti-interference capacity and insufficient in detection precision are overcome, the safety and economical efficiency of underwater ship body detection are remarkably improved, and the underwater ship body detection system is suitable for long-term operation in the complex marine environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater bionic robots, in particular to a multi-angle bionic penguin underwater detection robot. Background Art

[0002] Research shows that due to the long time a ship spends underwater, a large number of marine organisms are easily attached to the part below the waterline of the hull, forming ship bottom fouling, or causing safety hazards such as welding cracks and seawater corrosion. Once these potential dangers occur, they often cause irreparable losses. Therefore, timely and high-quality underwater hull inspection is the fundamental guarantee for the safe navigation of ships.

[0003] Patent "CN201811499595.4" proposes an underwater hull inspection robot and its working method. The robot uses a propeller as a device for adjusting the fuselage orientation and as the main power propulsion, and is equipped with a camera module, a structured light scanner module and other devices to form a scanning and inspection system. The system is used to photograph and scan the underwater hull surface condition, thereby analyzing and detecting safety hazards such as surface attachments and cracks on the hull.

[0004] Patent "CN202211648265.3" proposes a bionic naked sea butterfly underwater detection robot. By imitating the wing-foot structure of the sea butterfly, the robot uses flapping wing devices on both sides of the front as the power structure device, and the tail and abdomen foot device to achieve the robot's azimuth adjustment. At the same time, it is equipped with a waterproof camera to accurately detect the corrosion status of underwater wind turbines and underwater hull surfaces, providing an important reference for subsequent maintenance.

[0005] However, all of the above-mentioned underwater hull inspection robots have weak anti-flow interference capabilities and insufficient posture stability when hovering or moving underwater, making it difficult to achieve precise operations. The propulsion system is inefficient and has limited maneuverability, making it impossible to balance the needs of rapid movement and precise inspection, leaving much room for improvement.

[0006] In view of this, a multi-angle bionic penguin underwater detection robot is proposed. Summary of the Invention

[0007] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0008] In view of the following technical problems in the existing technology: the current underwater hull inspection robots have problems such as poor flexibility, poor stability, and low detection efficiency.

[0009] To solve the above technical problems, the present invention provides the following technical solutions: a multi-angle bionic penguin underwater inspection robot, comprising a streamlined body shell, a diversion front cover, an RGB-D camera photogrammetry pan / tilt, a bionic flapping wing transmission mechanism, a propeller-assisted propulsion device, a sinking and floating device, and a diverter fin, wherein:

[0010] The streamlined body shell is a bionic penguin streamlined structure, which is used to reduce water flow resistance;

[0011] The water diversion front cover is installed on the front top of the streamlined fuselage shell and is used to guide the water flow;

[0012] The RGB-D camera photogrammetry gimbal is disposed inside the front air guide housing and is fixedly connected to the streamlined fuselage shell via a gimbal mounting seat for collecting hull surface data;

[0013] The bionic flapping wing transmission mechanism is installed in the middle of both sides of the streamlined fuselage shell to provide propulsion and flexible maneuverability;

[0014] The propeller auxiliary propulsion device is placed at the tail of the streamlined fuselage shell and is used for rapid propulsion and mitigation of fuselage shaking;

[0015] The sinking and floating device is installed at the rear of the streamlined fuselage shell and is used to adjust the floating state;

[0016] The diverter fin is fixedly connected to the bottom of the streamlined fuselage shell and is used to guide water flow and protect the propeller auxiliary propulsion device;

[0017] A storage cavity is provided in the streamlined body shell, and a body end face cover is installed outside the storage cavity.

[0018] As the preferred technical solution for the multi-angle bionic penguin underwater inspection robot, the diversion front cover adopts a bionic penguin beak structure, the front end of which is a streamlined tip and seamlessly connected to the front top of the streamlined fuselage shell, which is used to reduce the direct impact of water flow on the external cabin.

[0019] As the preferred technical solution for the multi-angle bionic penguin underwater inspection robot, the RGB-D camera photogrammetry gimbal includes an RGB-D camera, a camera module, an ultrasonic obstacle avoidance sensor, a gimbal servo 1, and a gimbal servo 2, wherein:

[0020] The camera module is installed on the RGB-D camera module bracket 1;

[0021] The RGB-D camera is fixedly connected to the measurement module integrated board through the RGB-D camera module bracket 1 and the RGB-D camera module bracket 2, and the measurement module integrated board is equipped with an ultrasonic obstacle avoidance sensor;

[0022] The pan / tilt servo 1 is mounted on the measurement module integrated board via a short U bracket, and is used to drive the RGB-D camera to achieve two-dimensional azimuth adjustment;

[0023] The second pan-tilt servo is mounted on the first pan-tilt servo via a ring, a bearing and a narrow U-bracket.

[0024] As a preferred technical solution for the multi-angle bionic penguin underwater inspection robot, a hanging plate is installed in the streamlined fuselage shell, a load-bearing plate is installed on the top of the hanging plate, a power supply is installed on the side of the hanging plate, and the bionic flapping wing transmission mechanism is docked at the lower side of the hanging plate. The bionic flapping wing transmission mechanism includes bionic flapping wings, ball gears, small XY direction servos for ball gear transmission, and large Z direction servos for ball gear transmission, wherein:

[0025] The ball gear is installed in the steering gear connecting transmission housing, the steering gear connecting transmission housing is connected to the ball gear transmission support frame, and the ball gear transmission support frame is connected to the hanging plate through the ball gear transmission support seat;

[0026] The small XY direction servo for the ball gear transmission is installed on the servo connection transmission housing, and the large Z direction servo for the ball gear transmission is installed on the outer wall of the ball gear transmission support frame, which is used to drive the bionic flapping wing to achieve arbitrary degree of freedom movement. The inner edge of the ball gear transmission support frame is provided with a servo connection transmission housing disc.

[0027] As an optimal technical solution for the multi-angle bionic penguin underwater inspection robot, the bionic flapping wing is connected to the ball gear through a flapping wing transmission connection and a fastener, the ball gear is externally meshed with the ball gear transmission wheel, and the ball gear transmission wheel is connected to the ball gear transmission with an XY direction small servo through a ball gear transmission wheel connecting rod, so as to achieve efficient propulsion of the flapping wing, and a waterproof flexible membrane is installed at the edge of the streamlined fuselage shell, the waterproof flexible membrane is located outside the flapping wing transmission connection and a special-shaped locking ring is installed outside the waterproof flexible membrane.

[0028] As the preferred technical solution for the multi-angle bionic penguin underwater inspection robot, the propeller-assisted propulsion device includes multiple sets of propellers, which are fixedly connected to the tail of the streamlined fuselage shell through a three-way duct to provide rapid propulsion and slow down the shaking of the fuselage.

[0029] As an optimal technical solution for the multi-angle bionic penguin underwater inspection robot, the four independent cavities are fixedly connected to the sinking and floating device frame through the cavity mounting seat;

[0030] The DC push-pull motor is fixedly connected to the sinking and floating device frame through a motor base. An air pipe and a colloid piston are installed at the end of the independent cavity to drive the water volume adjustment in the cavity.

[0031] As an optimal technical solution for the multi-angle bionic penguin underwater inspection robot, the diverter fin has a streamlined structure, with its front end aligned with the bottom front end of the streamlined fuselage shell, and the rear end extending to the front of the propeller auxiliary propulsion device, for guiding water flow and reducing the impact of water flow on the propeller.

[0032] As an optimal technical solution for the multi-angle bionic penguin underwater inspection robot, the electrical mounting board is fixedly connected to the inner middle part of the streamlined fuselage shell for carrying the control circuit, and the electrical mounting board is electrically connected to the power supply for providing energy.

[0033] As an optimal technical solution for the multi-angle bionic penguin underwater inspection robot, the LED deep-water waterproof light is fixedly connected to both sides of the pan-tilt mounting seat through an LED deep-water waterproof light support frame to provide underwater lighting.

[0034] Beneficial effects of the present invention:

[0035] 1. By imitating the streamlined shape of a penguin, the robot's outer shell is less susceptible to water flow interference. Its forelimbs are designed to mimic the flapping structure of a penguin's flippers. The alternating paddling of the wings generates propulsion, while a spherical gear set serves as the transmission core, enabling movement with any degree of freedom and the ability to flexibly avoid obstacles. The tail incorporates multiple propellers, allowing the robot to quickly reach the detection area after entering the water. This also reduces body sway to a certain extent, improving stability and endurance.

[0036] 2. During inspection, the robot uses a propeller-assisted propulsion device to quickly reach the inspection area. Then, an RGB-D camera photogrammetry gimbal is used to inspect and analyze the hull surface. During this period, the robot's forelimb bionic flapping wing device is adjusted to adjust the swing amplitude for the next stage of detailed inspection, improving inspection accuracy.

[0037] 3. By imitating the streamlined shape and flapping wing motion mechanism of penguins and combining it with an RGB-D camera photogrammetry gimbal, a high-efficiency, low-noise, highly maneuverable, and highly sensitive underwater hull inspection robot has been realized. This solves the shortcomings of current traditional underwater robots, such as poor maneuverability, weak anti-interference ability, and insufficient detection accuracy, significantly improves the safety and economy of underwater hull inspection, and is suitable for long-term operations in complex marine environments.

[0038] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive work. Among them:

[0040] Figure 1 This is a schematic diagram of the overall structure of the bionic penguin underwater robot used for underwater hull inspection;

[0041] Figure 2 This is a schematic diagram of the streamlined fuselage shell of the bionic penguin underwater robot used for underwater hull inspection;

[0042] Figure 3 This is a schematic diagram of the diversion front cover and pan / tilt mounting base of the bionic penguin underwater robot used for underwater hull inspection;

[0043] Figure 4 This is a stereoscopic diagram of the RGB-D camera photogrammetry pan-tilt of the bionic penguin underwater robot used for underwater hull inspection;

[0044] Figure 5 This is a partial plan view of the RGB-D camera photogrammetry gimbal of the bionic penguin underwater robot used for underwater hull inspection;

[0045] Figure 6 It is a three-dimensional schematic diagram of the bionic flapping wing transmission structure of the bionic penguin underwater robot used for underwater hull inspection;

[0046] Figure 7 This is a schematic diagram of the partial disassembly of the flapping wing transmission mechanism of the bionic penguin underwater robot used for underwater hull inspection.

[0047] Figure 8 This is a schematic diagram of the disassembly of the flapping wing transmission mechanism of the bionic penguin underwater robot used for underwater hull inspection.

[0048] Figure 9 It is a three-dimensional schematic diagram of the flapping wings of a bionic penguin underwater robot used for underwater hull inspection;

[0049] Figure 10 This is a three-dimensional schematic diagram of the propeller-assisted propulsion device of the bionic penguin underwater robot used for underwater hull inspection:

[0050] Figure 11 This is a schematic diagram of the three-dimensional structure of the sinking and floating device of the bionic penguin underwater robot used for underwater hull inspection;

[0051] Figure 12 It is a schematic diagram of the overall explosion structure of the bionic penguin underwater robot used for underwater hull inspection.

[0052] Figure numerals: 1, diverter fin; 2, fuselage end cover; 3, bionic flapping wing; 4, streamlined fuselage shell; 5, waterproof flexible membrane; 6, electrical mounting board; 7, special-shaped locking ring; 8, diversion front cover; 9, RGB-D camera photogrammetry gimbal; 10, LED deep-water waterproof lamp; 11, gimbal mounting seat; 12, camera module; 13, RGB-D camera module bracket 1; 14, RGB-D camera; 15, ultrasonic obstacle avoidance sensor; 16, LED deep-water waterproof lamp support bracket; 17, RGB-D camera module bracket 2; 18, measurement module integrated board; 19, gimbal servo 1; 20, short U bracket; 21, narrow U bracket; 22, bearing; 23, ring; 24 , gimbal servo 2; 25. Load-bearing plate; 26. Hanging plate; 27. Bionic flapping-wing transmission mechanism; 28. Power supply; 29. Servo connected to transmission housing; 30. Ball gear transmission support frame; 31. Small servo in XY direction for ball gear transmission; 32. Ball gear transmission support seat; 33. Large servo in Z direction for ball gear transmission; 34. Ball gear transmission wheel connecting rod; 35. Ball gear; 36. Ball gear transmission wheel; 37. Servo connected to transmission housing disc; 38. Flapping-wing transmission connecting fasteners; 39. Propeller; 40. Three-way duct; 41. Cavity mounting seat; 42. Cavity; 43. Air pipe; 44. Rubber piston; 45. DC push-pull motor; 36. Motor seat; 47. Sinking and floating device frame. DETAILED DESCRIPTION

[0053] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0054] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0055] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it constitute a separate or selective embodiment that is mutually exclusive with other embodiments.

[0056] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing the embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, the three-dimensional dimensions of length, width, and depth should be included.

[0057] Example, refer to Figures 1 to 12 The multi-angle bionic penguin underwater inspection robot includes a streamlined body shell 4, a diversion front cover 8, an RGB-D camera photogrammetry platform 9, a bionic flapping wing transmission mechanism 27, a propeller auxiliary propulsion device, a sinking and floating device 47 and a diverter fin 1, wherein:

[0058] The streamlined body shell 4 is a bionic penguin streamlined structure, which is used to reduce water flow resistance;

[0059] The diversion front cover 8 is installed on the front top of the streamlined fuselage shell 4 to guide the water flow;

[0060] The RGB-D camera photogrammetry gimbal 9 is arranged inside the front guide cover 8 and is fixedly connected to the streamlined fuselage shell 4 through the gimbal mounting seat 11, which is used to collect hull surface data; the bionic flapping wing transmission mechanism 27 is installed in the middle of both sides of the streamlined fuselage shell 4 to provide propulsion and flexible maneuverability; the propeller auxiliary propulsion device is placed at the tail of the streamlined fuselage shell 4 to quickly propel and slow down the shaking of the fuselage; the sinking and floating device 47 is installed at the rear of the interior of the streamlined fuselage shell 4 to adjust the floating state; the diverter fin 1 is fixedly connected to the bottom of the streamlined fuselage shell 4 to guide water flow and protect the propeller auxiliary propulsion device; a storage cavity is provided in the streamlined fuselage shell 4, and a fuselage end cover plate 2 is installed outside the storage cavity.

[0061] The front diversion cover 8 adopts a bionic penguin beak structure, with a streamlined tip at the front end and seamlessly connected to the front top of the streamlined fuselage shell 4, to reduce the direct impact of water flow on the internal cabin.

[0062] The RGB-D camera photogrammetry gimbal 9 includes an RGB-D camera 14, a camera module 12, an ultrasonic obstacle avoidance sensor 15, a gimbal servo 19, and a gimbal servo 2 24, wherein: the camera module 12 is mounted on an RGB-D camera module bracket 13; the RGB-D camera 14 is fixedly connected to a measurement module integrated board 18 via an RGB-D camera module bracket 13 and an RGB-D camera module bracket 2 17, and the measurement module integrated board 18 is equipped with an ultrasonic obstacle avoidance sensor 15.

[0063] The pan-tilt servo 19 is mounted on the measurement module integrated board 18 through a short U bracket 20 and is used to drive the RGB-D camera 14 to achieve two-dimensional azimuth adjustment.

[0064] The second pan-tilt servo 24 is mounted on the first pan-tilt servo 19 via a ring 23 , a bearing 22 and a narrow U-bracket 21 .

[0065] A hanging plate 26 is installed in the streamlined fuselage shell 4, a load-bearing plate 25 is installed on the top of the hanging plate 26, a power supply 28 is installed on the side of the hanging plate 26, and the bionic flapping wing transmission mechanism 27 is docked at the lower side of the hanging plate 26. The bionic flapping wing transmission mechanism 27 includes a bionic flapping wing 3, a ball gear 35, a small XY direction servo 31 for ball gear transmission and a large Z direction servo 33 for ball gear transmission, wherein: the ball gear 35 is installed in the servo connection transmission housing 29, the servo connection transmission housing 29 is connected to the ball gear transmission support frame 30, and the ball gear transmission support frame 30 is connected to the hanging plate 26 through the ball gear transmission support seat 32.

[0066] The small XY direction servo 31 for ball gear transmission is installed on the servo connection transmission housing 29, and the large Z direction servo 33 for ball gear transmission is installed on the outer wall of the ball gear transmission support frame 30, which is used to drive the bionic flapping wing 3 to achieve arbitrary degree of freedom movement. The inner edge of the ball gear transmission support frame 30 is equipped with a servo connection transmission housing disc 37.

[0067] The bionic flapping wing 3 is connected to the ball gear 35 through the flapping wing transmission connection and fastening member 38. The ball gear 35 is meshed with a ball gear transmission wheel 36. The ball gear transmission wheel 36 is connected to the ball gear transmission XY direction small servo 31 through the ball gear transmission wheel connecting rod 34, which is used to achieve efficient propulsion of the flapping wing. A waterproof flexible membrane 5 is installed at the edge of the streamlined fuselage shell 4. The waterproof flexible membrane 5 is located outside the flapping wing transmission connection and fastening member 38, and a special-shaped locking ring 7 is installed outside the waterproof flexible membrane 5.

[0068] The propeller auxiliary propulsion device includes multiple sets of propellers 39, which are fixedly connected to the tail of the streamlined fuselage shell 4 through a three-way duct 40 to provide rapid propulsion and reduce fuselage shaking.

[0069] The four independent cavities 42 are fixedly connected to the sinking and floating device frame 47 through the cavity mounting base 41.

[0070] The DC push-pull motor 45 is fixedly connected to the sinking and floating device frame 47 through the motor base 46. The end of the independent cavity 42 is equipped with an air pipe 43 and a colloid piston 44 for driving the water volume adjustment in the cavity 42.

[0071] The diverter fin 1 has a streamlined structure, with its front end aligned with the bottom front end of the streamlined fuselage shell 4 and its rear end extending to the front of the propeller auxiliary propulsion device, for guiding water flow and reducing the impact of water flow on the propeller 39.

[0072] The electrical appliance mounting plate 6 is fixedly connected to the inner middle portion of the streamlined body shell 4 and is used to carry the control circuit. The electrical appliance mounting plate 6 is electrically connected to the power supply 28 for providing energy.

[0073] The LED deep water waterproof light 10 is fixedly connected to both sides of the pan / tilt mounting seat 11 through the LED deep water waterproof light support frame 16 to provide underwater lighting.

[0074] This implementation enables:

[0075] During the water entry phase, the buoyancy device 47 uses a DC push-pull motor 45 to fill the four independent chambers 42 with water, increasing its weight. When the robot needs to enter the water at an angle (20° to 35°), water is differentially injected into the four independent chambers 42 of the buoyancy device 47, accelerating the robot's head's sinking rate and forming an initial tilt angle. For vertical entry, the tail propeller 39 (equipped with three sets of propeller blades) is activated at 1500 rpm, combined with the diversion effect of the diverter fin 1, allowing the robot to sink vertically to the target depth at a speed of 1.5 m / s.

[0076] During the S2 inspection phase, the robot switches to flapping propulsion mode. The bionic flapping wings on both sides of the robot's forelimbs are driven by SG90 microservos (at a speed of 0.12s / 60° at a 4.8V operating voltage). The servos drive a spherical gear set, enabling the forelimbs to move at any angle, with a flapping frequency controllable within a range of 2 to 5Hz. In low-speed mode, it is suitable for scanning details such as weld cracks; in high-speed mode, it can quickly cover large areas (such as detecting biological adhesion on ship hull surfaces). Data is collected using an RGB-D camera photogrammetry gimbal 9.

[0077] S3. During the return phase, the sinking and buoyant device 47 drains water to reduce weight, and at the same time, the tail propeller 39 switches to the reverse thrust mode (rotation speed 1200 rpm), and cooperates with the auxiliary lift of the bionic flapping wings 3 to make the robot float to the water surface at a constant speed of 1 m / s.

[0078] It will be understood that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, the development effort will be a routine task of design, fabrication, and production without undue experimentation.

[0079] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. Multi-angle bionic penguin underwater inspection robot, characterized by: The invention comprises a streamlined fuselage shell (4), a front air guide cover (8), an RGB-D camera photogrammetry platform (9), a bionic flapping wing transmission mechanism (27), a propeller auxiliary propulsion device, a sinking and floating device (47) and a diverter fin (1), wherein: The streamlined fuselage shell (4) is a bionic penguin streamlined structure, which is used to reduce water flow resistance; The water guide front cover (8) is installed on the front top of the streamlined fuselage shell (4) and is used to guide the water flow; The RGB-D camera photogrammetry platform (9) is arranged inside the front air guide housing (8) and is fixedly connected to the streamlined fuselage shell (4) via a platform mounting seat (11), and is used to collect hull surface data; The bionic flapping wing transmission mechanism (27) is installed in the middle of both sides of the streamlined fuselage shell (4) to provide propulsion and maneuverability; The propeller auxiliary propulsion device is arranged at the tail of the streamlined fuselage shell (4) and is used for rapid propulsion and mitigation of fuselage shaking; The sinking and floating device (47) is installed at the rear of the streamlined fuselage shell (4) and is used to adjust the sinking and floating state; The diverter fin (1) is fixedly connected to the bottom of the streamlined fuselage shell (4) and is used to guide water flow and protect the propeller auxiliary propulsion device; A storage cavity is provided in the streamlined fuselage shell (4), and a fuselage end face cover plate (2) is installed outside the storage cavity.

2. The multi-angle bionic penguin underwater inspection robot according to claim 1, characterized in that: The air guide front cover (8) adopts a bionic penguin beak structure, and its front end is a streamlined tip and is seamlessly connected to the front top of the streamlined fuselage shell (4).

3. The multi-angle bionic penguin underwater inspection robot according to claim 2, characterized in that: The RGB-D camera photogrammetry platform (9) includes an RGB-D camera (14), a camera module (12), an ultrasonic obstacle avoidance sensor (15), a platform servo 1 (19) and a platform servo 2 (24), wherein: The camera module (12) is mounted on an RGB-D camera module bracket (13); The RGB-D camera (14) is fixedly connected to a measurement module integrated board (18) via an RGB-D camera module bracket 1 (13) and an RGB-D camera module bracket 2 (17), and an ultrasonic obstacle avoidance sensor (15) is installed on the measurement module integrated board (18); The pan-tilt servo (19) is mounted on the measurement module integrated board (18) via a short U bracket (20); The second pan-tilt servo (24) is placed on the first pan-tilt servo (19) via a ring (23), a bearing (22) and a narrow U bracket (21).

4. The multi-angle bionic penguin underwater inspection robot according to claim 3, characterized in that: A hanging plate (26) is installed in the streamlined fuselage shell (4), a load-bearing plate (25) is installed on the top of the hanging plate (26), a power supply (28) is installed on the side of the hanging plate (26), and the bionic flapping wing transmission mechanism (27) is connected to the lower side of the hanging plate (26). The bionic flapping wing transmission mechanism (27) includes a bionic flapping wing (3), a ball gear (35), a small XY direction servo (31) for ball gear transmission, and a large Z direction servo (33) for ball gear transmission, wherein: The ball gear (35) is installed in a steering gear connecting transmission housing (29), the steering gear connecting transmission housing (29) is connected to a ball gear transmission support frame (30), and the ball gear transmission support frame (30) is connected to the hanging plate (26) through a ball gear transmission support seat (32); The ball gear transmission XY direction small steering gear (31) is installed on the steering gear connection transmission housing (29), the ball gear transmission Z direction large steering gear (33) is installed on the outer wall of the ball gear transmission support frame (30), and the inner edge of the ball gear transmission support frame (30) is installed with a steering gear connection transmission housing disc (37).

5. The multi-angle bionic penguin underwater inspection robot according to claim 4, characterized in that: The bionic flapping wing (3) is connected to a ball gear (35) via a flapping wing transmission connection and fastening member (38); the ball gear (35) is externally meshed with the ball gear transmission wheel (36); the ball gear transmission wheel (36) is connected to a ball gear transmission XY direction small steering gear (31) via a ball gear transmission wheel connecting rod (34); a waterproof flexible membrane (5) is installed at the edge of the streamlined fuselage shell (4); the waterproof flexible membrane (5) is located outside the flapping wing transmission connection and fastening member (38); and a special-shaped locking ring (7) is installed outside the waterproof flexible membrane (5).

6. The multi-angle bionic penguin underwater inspection robot according to claim 5, characterized in that: The propeller-assisted propulsion device comprises a plurality of propellers (39), and the propellers (39) are fixedly connected to the tail of the streamlined fuselage shell (4) through a three-way duct (40).

7. The multi-angle bionic penguin underwater inspection robot according to claim 6, characterized in that: The four independent cavities (42) are fixedly connected to the sinking and floating device frame (47) through the cavity mounting seat (41); The DC push-pull motor (45) is fixedly connected to the sinking and floating device frame (47) through a motor base (46); an air pipe (43) and a colloid piston (44) are installed at the end of the independent cavity (42) for driving the water volume adjustment in the cavity (42).

8. The multi-angle bionic penguin underwater inspection robot according to claim 7, characterized in that: The diverter fin (1) has a streamlined structure, with its front end aligned with the bottom front end of the streamlined fuselage shell (4) and its rear end extending to the front of the propeller auxiliary propulsion device, for guiding water flow and reducing the impact of water flow on the propeller (39).

9. The multi-angle bionic penguin underwater inspection robot according to claim 8, characterized in that: The electrical appliance mounting plate (6) is fixedly connected to the inner middle portion of the streamlined body shell (4), and the electrical appliance mounting plate (6) is electrically connected to a power source (28) for providing energy.

10. The multi-angle bionic penguin underwater inspection robot according to claim 9, characterized in that: The LED deep-water waterproof lamp (10) is fixedly connected to both sides of the pan / tilt mounting seat (11) via an LED deep-water waterproof lamp support frame (16).

Images