Turtle and fish dual-form conversion underwater operation robot and working method thereof

Abstract

The invention discloses a turtle and fish dual-form conversion underwater operation robot which is characterized by comprising a deformation structure, a power structure, a survey module and a control unit, the control unit is respectively connected with and controls the deformation structure, the power structure and the surveying module, and the control unit controls the deformation structure to realize conversion of a tortoise form and a fish form of the robot underwater; the fish form is a state presented when the side wing shells contract, so that the robot forms a fish-like form underwater, has certain advantages during rapid movement or underwater operation, is integrally streamlined, has a certain effect of reducing underwater resistance, and can reduce certain obstacles during underwater movement; the operation is fast.

Description

(1) Technical field:

[0001] The present invention belongs to the technical field of bionic robots, and in particular to a turtle-fish dual-morph transformation underwater operation robot and a working method thereof. The robot adapts to complex underwater environments and improves operational flexibility and efficiency through the coordinated control of a mechanical deformation mechanism and a power system. (2) Background technology:

[0002] Existing underwater robots mostly adopt a single form factor (such as a turtle or fish), making them difficult to navigate in complex underwater environments (such as undercurrents, whirlpools, reefs, narrow passages, and undulating seabed terrain). For example, turtle-shaped robots are highly stable but slow to move, while fish-shaped robots are highly maneuverable but have poor anti-interference capabilities. Furthermore, existing underwater robots that can switch between two forms are yet to be disclosed. Furthermore, traditional robots lack the flexibility to avoid obstacles and navigate freely in complex environments, making them prone to collisions or becoming trapped. (3) Summary of the invention:

[0003] The purpose of the present invention is to provide a turtle-fish dual-morph transformation underwater working robot and its working method, which can overcome the shortcomings of the existing technology and is a wireless drive robot with a simple structure and flexible control. The present invention uses an innovative deformation mechanism and power system to enable the robot to switch forms according to environmental requirements: in a stable environment, it switches to a streamlined fish form for rapid movement; in a complex environment, it switches to a stable turtle form to resist interference, thereby overcoming the defects of the existing technology.

[0004] The technical solution of the present invention is a turtle-fish dual-morphing underwater working robot, which is composed of a deformation structure, a power structure, a survey module and a control unit. The control unit is connected to the deformation structure, the power structure and the survey module and controls them respectively. The control unit manipulates the deformation structure to realize the transformation of the robot into a turtle form and a fish form underwater.

[0005] The deformation structure includes a central motor rod, a chassis telescopic rod, a side wing shell, and a top protective shell; wherein, one end of the central motor rod is a driving end, and the other end is connected to the chassis; the chassis telescopic rod is slidingly mounted on the chassis and connected to one end of the side wing shell, and the two ends of the side wing shell are respectively connected to the top protective shell and the chassis telescopic rod shaft; the central motor rod and one end of the chassis are connected to the chassis through a rotating pair, and when the central motor rod is extended or retracted, due to the action of the rotating pair, the relative angle between the chassis telescopic rod and the side wing shell changes; during the extension of the central motor rod, the chassis telescopic rod will be pushed to shrink toward the center point of the chassis, and at the same time, the angle between the chassis telescopic rod and the side wing shell will gradually increase; conversely, when the central motor rod shrinks, the chassis telescopic rod will be pulled to extend outward along the center point of the chassis, so that the angle between the chassis telescopic rod and the side wing shell will gradually decrease, thereby realizing the transformation to a turtle shape.

[0006] The central motor rod is the primary power source for the robot's form switching. When the control unit issues a retraction command, the motor drives the central motor rod to retract toward the robot's central axis. The rotating pair drives the chassis telescopic rod to slide into the chassis' slot, gradually reducing the included angle, and the wing shells move inward synchronously with the retraction of the chassis telescopic rod. When the control unit issues an extension command, the motor drives the central motor rod to extend toward the robot's central axis. The rotating pair drives the chassis telescopic rod to slide into the chassis' slot, gradually increasing the included angle, and the wing shells move outward synchronously with the extension of the chassis telescopic rod.

[0007] The power structure is a propeller installed at the bottom of the robot.

[0008] The propeller is a three-blade fully submerged propeller.

[0009] The power structure includes four three-blade fully submerged propellers, which provide underwater propulsion to enable the robot to move underwater. When changing the direction of the robot's movement, one of the propellers is turned off to turn the robot, allowing the robot to perform normal target movement functions; the control unit controls the servo by outputting PWM values.

[0010] The servo is connected to the propeller's blade angle adjustment mechanism via a transmission. The PWM value output by the control unit controls the servo's rotation angle, which in turn adjusts the propeller's blade angle, achieving precise control of the robot's direction of motion. For example, when steering is required, the control unit calculates the corresponding PWM value based on the preset steering angle and sends it to the servo. The servo rotates the corresponding angle, changing the corresponding propeller blade angle and generating a steering torque for the robot.

[0011] The survey module includes a top protective shell and a survey camera to monitor the underwater environment in real time.

[0012] The survey camera is a built-in 360-degree camera.

[0013] The top protective shell is a transparent protective shell, and a control unit, a camera, a drive motor, and a power supply unit are installed in the shell.

[0014] The central motor rod is placed at the center of the robot and driven by a motor; the side wing shell is at least two pieces, each connected to the corresponding chassis telescopic rod; the chassis telescopic rod is connected to the drive motor, and the drive motor is connected to the power supply unit. The drive motor is mainly used to fine-tune the chassis telescopic rod in special circumstances, such as when encountering obstacles and the position of the chassis telescopic rod needs to be manually adjusted. During the normal form switching process, it is mainly driven by the central motor rod to extend and retract; the central motor rod at the center of the robot is the main driving source for the telescopic deformation of the chassis telescopic rod. During the telescopic process, the central motor rod is connected to the chassis telescopic rod through a mechanical connecting rod structure, transmitting its own telescopic motion to the chassis telescopic rod to realize its telescopic action. In order to ensure that the chassis telescopic rod can be fully extended and retracted, a limit device is used in the mechanical design. Mechanical limit blocks are set at both ends of the slot of the chassis telescopic rod. When the chassis telescopic rod moves to the extreme position, it will contact the limit block, thereby stopping the movement, ensuring that it will not be over-extended or over-retracted. At the same time, a corresponding position detection and feedback mechanism is also set up in the control unit program. The position of the chassis telescopic rod is monitored in real time through the sensor. When the preset extension or retraction position is reached, the control unit stops driving the central motor rod, further ensuring the accuracy and reliability of the action.

[0015] The central motor rod drives the side wing shell to form a 45-degree angle with the chassis to achieve shape switching.

[0016] The chassis is provided with a slot, and the chassis telescopic rod is placed in the slot and can slide along the slot.

[0017] The robot is divided into a turtle form and a fish form; the fish form is the state presented when the side wing shell is retracted, so that the robot forms a fish-like form when underwater, which has certain advantages when performing rapid movement or underwater operations, making the robot as a whole streamlined, and having a certain effect of reducing underwater resistance, so that the robot can reduce certain obstacles when moving underwater and move quickly.

[0018] The turtle form is the state presented when the side wing shell is extended, which makes the robot form a turtle-like shape when underwater, with a hemispherical top, which makes the robot relatively stable underwater, but the movement speed is relatively slow. It has a certain coping ability when encountering turbulent water or complex terrain underwater.

[0019] The top protective shell is hemispherical as a whole, has a certain stability and the function of protecting the survey camera. The camera surveys the underwater environment underwater, and can perform 360-degree surround monitoring and real-time recording, realizing the main function of the robot's underwater operation.

[0020] The structures of the turtle-fish dual-form transformation underwater operation robot are all made of the same nylon material 3D printing, linked in sequence, and each structure is fixed with 3M screws and the surface is fixed with hot melt adhesive.

[0021] The propeller is connected to a waterproof brushless motor with a KV value of 5800, and the maximum no-load speed can reach 60,000 revolutions per minute; the motor connected to the central motor rod is a brushed DC permanent magnet motor. After power is applied, based on the principle of electromagnetic induction, the permanent magnet interacts with the energized coil to generate electromagnetic torque, and the motor rotor starts to rotate, providing initial power for the electric push rod.

[0022] The servo is an all-metal waterproof servo that can precisely control the angle and has a high holding torque.

[0023] A method for operating the above-mentioned turtle-fish dual-morph transformation underwater operation robot is characterized in that it includes the following steps:

[0024] (1) When the central motor rod is extended or retracted, it drives the chassis telescopic rod to extend or retract at the same time, causing the entire robot to deform. By transforming into different forms, the robot's underwater working efficiency is improved.

[0025] (2) A propeller is installed at the bottom to drive the robot to move underwater and change direction, helping the robot to complete forward, backward, turning, and U-turn movements underwater;

[0026] (3) The top camera conducts real-time underwater monitoring and recording to complete the overall work task.

[0027] The robot undergoes telescopic deformation through the central motor rod. When the central motor rod is extended, it drives the chassis telescopic rod to be retracted into the chassis, so that the robot as a whole is in a contracted state, similar to a fish shape, and the overall shape is streamlined to reduce resistance; when the central motor rod is contracted, it drives the chassis telescopic rod to open, and at the same time the side wing shell is driven to open, so that the robot as a whole is in an open state, similar to a turtle shape, and the top is hemispherical to enhance stability.

[0028] The robot is equipped with a propeller at the bottom to provide driving power for the robot, enabling it to move underwater. It is the robot's power device. When changing the robot's movement direction, one of the propellers is turned off to turn the robot around, allowing the robot to perform normal target movement functions; the servo is directly connected to the propeller's drive shaft to adjust the propeller's deflection angle; the control unit synchronously controls the servo and propeller's drive motors through PWM signals to achieve forward, backward, steering and U-turn functions.

[0029] A survey camera is installed inside the top protective shell. When the robot is working underwater, it normally surveys the underwater environment, performs 360-degree surround monitoring and records in real time.

[0030] The operating principle of the present invention is that the robot's four drive modules work in concert. A central motor-operated telescopic rod drives the robot's top to extend and retract, thereby driving the four drive modules to transform and the chassis to extend and retract, achieving state transitions. The "four drive modules" refer to four propeller-servo combination units. Their coordinated coordination is demonstrated by the control unit prioritizing the central motor rod and chassis telescopic rod to achieve deformation according to the state switching command, then adjusting the propeller's deflection angle through the servo, and finally coordinating the four propeller speeds to achieve directional movement.

[0031] The advantages of the present invention are as follows: (1) the robot is driven by a motor to deform, which simplifies the structure of the entire robot and enables the robot to deform freely; (2) the four motor propellers at the bottom simplify the power structure of the robot and facilitate the control of the robot's forward and backward movement and direction change; (3) the three-blade fully submerged propeller is a propeller with a deflector, which reduces the noise and vibration generated by the propeller and increases the propeller thrust; (4) the robot adopts a splicing concept to design the internal and external parts, which meets the characteristics of detachability and easy installation; (5) the top camera can rotate 360 ​​degrees, making the underwater operation content more comprehensive; (6) when the robot is in a fish shape, the entire robot presents a streamlined shape, which reduces the resistance of the robot during underwater operation, increases efficiency, and improves the robot's movement flexibility; when the robot is in a turtle shape, the top is hemispherical to enhance stability, and the dual shapes can be switched freely to adapt to different underwater environments and realize the robot's underwater operation function; the dual shape switching increases the operation efficiency by 50% and reduces the failure rate by 20% (based on laboratory underwater environment tests). (4) Description of the accompanying drawings:

[0032] Figure 1 The present invention is a schematic structural diagram of a turtle-shaped underwater working robot capable of transforming into a turtle or fish dual-shaped underwater robot.

[0033] Figure 2 The present invention is a schematic structural diagram of a turtle-fish dual-morph transformation underwater operation robot in fish form.

[0034] Figure 3 It is a structural schematic diagram of the propeller blades of the turtle-fish dual-morph transformation underwater working robot involved in the present invention.

[0035] Figure 4 It is a schematic diagram of a three-blade fully submersible propeller of a turtle-fish dual-morph transformation underwater operation robot involved in the present invention.

[0036] Figure 5 The diagram is a schematic diagram of the chassis structure of a turtle-fish dual-morph transformation underwater working robot according to the present invention.

[0037] Figure 6This is a schematic diagram of the central motor rod structure of a turtle-fish dual-morph transformation underwater working robot involved in the present invention.

[0038] Figure 7 The present invention is a schematic structural diagram of a bottom telescopic device of a turtle-fish dual-morph transformation underwater working robot.

[0039] Figure 8 It is a structural schematic diagram of the top transparent protective shell of a turtle-fish dual-morph transformation underwater working robot involved in the present invention.

[0040] Figure 9 The present invention is a schematic structural diagram of the single-piece side wing connection of a turtle-fish dual-morph transformation underwater working robot.

[0041] Figure 10 The invention relates to a turtle-fish dual-morph transformation underwater operation robot, in which the central motor rod of the robot is retracted, and the angle change between the robot's side wings and the bottom telescopic rod is disclosed.

[0042] Figure 11 The invention relates to a turtle-fish dual-morph transformation underwater operation robot, in which the central motor rod of the robot is extended and the angles of the robot's side wings and bottom telescopic rod change.

[0043] In the figure, 1 is the top protective shell, 2 is the side wing shell, 3 is the three-blade fully submerged propeller, 4 is the chassis, 5 is the chassis telescopic rod, 6 is the center motor rod, and 7 is the camera. (V) Specific implementation methods:

[0044] The following is a detailed description of the implementation methods of this patent in conjunction with the accompanying drawings.

[0045] Example: Figures 1 to 11 As shown, a turtle-fish dual-morphing underwater working robot consists of a deformation structure, a power structure, a survey module, and a control unit. The control unit is connected to the deformation structure, the power structure, and the survey module and controls them respectively. The control unit manipulates the deformation structure to realize the transformation of the robot into a turtle form and a fish form underwater.

[0046] The deformation structure includes a central motor rod 6, a chassis telescopic rod 5, a wing shell 2, and a top protective shell 1; wherein, one end of the central motor rod 6 is a driving end, and the other end is connected to the chassis; the chassis telescopic rod 5 is slidably mounted on the chassis 4, and is connected to one end of the wing shell 2 through a rotating pair, and the two ends of the wing shell 2 are respectively connected to the top protective shell 1 and the chassis telescopic rod 5 axis; when the central motor rod 6 is extended or retracted, due to the action of the rotating pair, the relative angle between the chassis telescopic rod 5 and the wing shell 2 changes; in the process of transforming from fish form to turtle form, the central motor rod 6 contracts and drives the top of the robot to move downward as a whole. At the same time, through the action of the rotating pair connection between the top 1 and the wing protective shell 2, the chassis telescopic rod 5 will be pushed to extend in the opposite direction of the robot center, and at the same time, the angle between the chassis telescopic rod 5 and the wing shell 2 will gradually decrease to 45°, realizing the transformation to the turtle form (such as Figure 10 ); On the contrary, in the process of transforming from turtle form to fish form, the central motor rod 6 stretches and drives the top of the robot to move upward as a whole. At the same time, through the action of the rotating joint connection between the top 1 and the side wing protective shell 2, the chassis telescopic rod 5 will be pulled inward, and the angle between the chassis telescopic rod 5 and the side wing shell 2 will gradually increase to 90°, realizing the transformation to the fish form (such as Figure 11 ).

[0047] The central motor rod 6 is the primary power source for the robot's form switching. When the control unit issues an extension command, the motor drives the central motor rod 6 to extend upward toward the robot's central axis. The rotating pair drives the chassis telescopic rod 5 to slide into the slot of the chassis 4. The wing housings 2 move inward in tandem with the retraction of the chassis telescopic rod 5, gradually increasing the angle between the two to 90 degrees. When the control unit issues a retraction command, the motor drives the central motor rod 6 to retract downward toward the robot's central axis. The rotating pair drives the chassis telescopic rod 5 to slide out of the slot of the chassis 4. The wing housings 2 move outward in tandem with the expansion of the chassis telescopic rod 5, gradually decreasing the angle between the two to 45 degrees.

[0048] The power structure is a propeller installed at the bottom of the robot.

[0049] The propeller is a three-blade fully submerged propeller.

[0050] The power structure includes four three-blade fully submerged propellers 3, which provide underwater propulsion to enable the robot to move underwater. When changing the direction of movement of the robot, one of the propellers is turned off to turn the robot, allowing the robot to perform normal target movement functions; the control unit controls the servo by outputting PWM values.

[0051] The servo is connected to the propeller's blade angle adjustment mechanism via a transmission. The PWM value output by the control unit controls the servo's rotation angle, which in turn adjusts the propeller's blade angle, achieving precise control of the robot's direction of motion. For example, when steering is required, the control unit calculates the corresponding PWM value based on the preset steering angle and sends it to the servo. The servo rotates the corresponding angle, changing the corresponding propeller blade angle and generating a steering torque for the robot.

[0052] The survey module includes a top protective shell 1 and a survey camera 7 for real-time monitoring of the underwater environment.

[0053] The survey camera 7 is a built-in 360-degree camera.

[0054] The top protective shell 1 is a transparent protective shell, and a control unit, a camera, a drive motor, and a power supply unit are installed in the shell.

[0055] The central motor rod 6 is placed at the center of the robot and driven by a motor. The wing housing 2 is composed of four pieces, each connected to a corresponding chassis telescopic rod. The chassis telescopic rod 5 is connected to a drive motor, which is connected to a power supply unit. The drive motor is mainly used to fine-tune the chassis telescopic rod 5 in special circumstances, such as when encountering an obstacle and manual adjustment is required. During normal form switching, the central motor rod 6 is mainly used to drive the telescopic rod 5 to extend and retract. The central motor rod 6 at the center of the robot is the main driving force for the telescopic deformation of the chassis telescopic rod 5. During the telescopic process, the central motor rod 6 is connected to the chassis telescopic rod 5 via a mechanical linkage structure, transmitting its own telescopic motion to the chassis telescopic rod 5 to achieve its telescopic action. To ensure that the chassis telescopic rod 5 can fully extend and retract, a limit device is used in the mechanical design. Mechanical limit blocks are set at each end of the slot of the chassis telescopic rod 5. When the chassis telescopic rod 5 moves to the extreme position, it will contact the limit block, thereby stopping the movement and ensuring that it does not extend or retract excessively. At the same time, a corresponding position detection and feedback mechanism is also set up in the control unit program. The position of the chassis telescopic rod 5 is monitored in real time through the sensor. When the preset extension or retraction position is reached, the control unit stops driving the central motor rod 6, further ensuring the accuracy and reliability of the action.

[0056] The central motor rod 6 drives the wing housing 2 to form a 45-degree angle with the chassis 4 to achieve shape switching.

[0057] The chassis 4 is provided with a slot, and the chassis telescopic rod 5 is placed in the slot and can slide along the slot.

[0058] The robot is divided into a turtle form and a fish form; the fish form is the state presented when the side wing shell 2 is retracted, so that the robot forms a fish-like form when underwater, which has certain advantages when performing rapid movement or underwater operations, making the robot as a whole streamlined, and having a certain effect of reducing underwater resistance, so that the robot can reduce certain obstacles when moving underwater and move quickly.

[0059] The turtle form is the state presented when the side wing shell 2 is extended, so that the robot forms a turtle-like shape when underwater, with a hemispherical top, which makes the robot relatively stable underwater, but the movement speed is relatively slow. It has a certain coping ability when encountering turbulent water or complex terrain underwater.

[0060] The top protective shell 1 is hemispherical in shape as a whole, has certain stability and the function of protecting the survey camera. The camera surveys the underwater environment underwater, and can perform 360-degree surround monitoring and real-time recording, realizing the main function of the robot's underwater operation.

[0061] The structures of the turtle-fish dual-form transformation underwater operation robot are all made of the same nylon material 3D printing, linked in sequence, and each structure is fixed with 3M screws and the surface is fixed with hot melt adhesive.

[0062] The propeller is connected to a waterproof brushless motor with a KV value of 5800, and the maximum no-load speed can reach 60,000 revolutions per minute; the motor connected to the central motor rod 6 is a brushed DC permanent magnet motor. After power is turned on, based on the principle of electromagnetic induction, the permanent magnet interacts with the energized coil to generate electromagnetic torque, and the motor rotor starts to rotate, providing initial power for the electric push rod.

[0063] The servo is an all-metal waterproof servo that can precisely control the angle and has a high holding torque.

[0064] A method for operating the above-mentioned turtle-fish dual-morph transformation underwater operation robot is characterized in that it includes the following steps:

[0065] (1) When the central motor rod 6 is extended or retracted, the chassis telescopic rod 5 is driven to extend or retract simultaneously, causing the entire robot to deform. By transforming into different forms, the robot's underwater working efficiency is improved.

[0066] (2) A propeller is installed at the bottom to drive the robot to move underwater and change direction, helping the robot to complete forward, backward, turning, and U-turn movements underwater;

[0067] (3) The top camera conducts real-time underwater monitoring and recording to complete the overall work task.

[0068] The robot undergoes telescopic deformation through the central motor rod 6. When the central motor rod 6 is extended, it drives the chassis telescopic rod 5 to be retracted into the chassis 4, so that the robot as a whole is in a contracted state, similar to a fish shape, and the whole is streamlined to reduce resistance; when the central motor rod 6 is contracted, it drives the chassis telescopic rod 5 to open, and at the same time the side wing shell 2 is driven to open, so that the robot as a whole is in an open state, similar to a turtle shape, and the top is hemispherical to enhance stability.

[0069] The robot is equipped with a propeller at the bottom to provide driving power for the robot, enabling the robot to move underwater. It is the power device of the robot. When changing the direction of movement of the robot, one of the propellers is turned off to turn the robot, so that the robot can perform normal target movement function; the servo 8 is directly connected to the drive shaft of the propeller 3 to adjust the deflection angle of the propeller; the control unit synchronously controls the servo 8 and the drive motor of the propeller 3 through the PWM signal to realize the forward, backward, steering and U-turn functions.

[0070] For example:

[0071] Forward: All four propellers rotate forward at the same speed, and the servo maintains a 0° deflection angle;

[0072] Turn left: the left propeller slows down, the right propeller accelerates, and the left servo deflects 15°;

[0073] Backward: four propellers rotate in reverse at the same speed;

[0074] Emergency braking: The propellers on both sides rotate in opposite directions at different speeds.

[0075] A survey camera 7 is installed inside the top protective shell 1. When the robot is working underwater, it normally surveys the underwater environment, performs 360-degree surround monitoring and records in real time.

[0076] The present invention can overcome the shortcomings of the existing technology. When encountering different terrain conditions underwater, it can switch to different forms to cope with them. In relatively stable underwater environments or narrow passages, the fish-shaped robot can be switched to move quickly. In complex environments with undercurrents, whirlpools, etc., the turtle form can be switched to cope with harsh environments.

[0077] With the development and utilization of marine resources, the demand for underwater operations is growing. Traditional underwater robots are often limited to a single form, facing numerous limitations in complex underwater environments. To improve the efficiency and flexibility of underwater operations, the turtle-fish dual-form underwater robot has emerged. This robot combines the characteristics of turtle and fish forms, capable of switching between different forms to adapt to different operating scenarios and mission requirements.

[0078] The core technology of the Turtle-Fish Dual-Form Underwater Operation Robot lies in its unique transformation mechanism. Through the design of its mechanical structure and control system, the robot can transform between turtle and fish forms. In turtle form, the robot exhibits excellent stability and interference resistance, making it suitable for tasks requiring high precision. In fish form, the robot can swim rapidly and adapt to diverse underwater environments. Furthermore, the robot is equipped with advanced sensors and communication systems, enabling real-time monitoring of the underwater environment and operational status, providing strong operational support.

[0079] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A turtle-fish dual-morph transformation underwater operation robot, characterized in that It consists of a deformable structure, a power structure, a survey module and a control unit; the control unit is connected to the deformable structure, the power structure and the survey module respectively and controls them. The control unit manipulates the deformable structure to realize the transformation of the robot into a turtle form and a fish form underwater; The deformation structure includes a central motor rod, a chassis telescopic rod, a side wing shell, and a top protective shell; wherein, one end of the central motor rod is a driving end, and the other end is connected to the chassis; the chassis telescopic rod is slidingly mounted on the chassis and connected to one end of the side wing shell, and the two ends of the side wing shell are respectively connected to the top protective shell and the chassis telescopic rod shaft; the central motor rod and one end of the chassis are connected to the chassis through a rotating pair, and when the central motor rod is extended or retracted, due to the action of the rotating pair, the relative angle between the chassis telescopic rod and the side wing shell changes; during the extension of the central motor rod, the chassis telescopic rod will be pushed to shrink toward the center point of the chassis, and at the same time, the angle between the chassis telescopic rod and the side wing shell will gradually increase; conversely, when the central motor rod shrinks, the chassis telescopic rod will be pulled to extend outward along the center point of the chassis, so that the angle between the chassis telescopic rod and the side wing shell will gradually decrease, thereby realizing the transformation to a turtle shape.

2. The turtle-fish dual-morph transformation underwater operation robot according to claim 1, characterized in that The power structure is a propeller installed at the bottom of the robot; the control unit controls the servo by outputting a PWM value; the servo is connected to the propeller's blade angle adjustment mechanism through a transmission device, and the PWM value output by the control unit controls the rotation angle of the servo, thereby adjusting the propeller's blade angle.

3. The turtle-fish dual-morph transformation underwater operation robot according to claim 1, characterized in that The survey module includes a top protective shell and a survey camera to monitor the underwater environment in real time.

4. The turtle-fish dual-morph transformation underwater operation robot according to claim 3, characterized in that The survey camera is an embedded 360-degree camera; the top protective shell is a transparent protective shell, in which a control unit, a camera, a drive motor, and a power supply unit are installed.

5. The turtle-fish dual-morph transformation underwater operation robot according to claim 1, characterized in that The central motor rod is placed in the center of the robot and is driven by a motor; the side wing shell is at least two pieces, each connected to the corresponding chassis telescopic rod; The chassis telescopic rod is connected to the driving motor, and the driving motor is connected to the power supply unit.

6. The turtle-fish dual-morph transformation underwater operation robot according to claim 1, characterized in that Mechanical limit blocks are respectively set at both ends of the slot of the chassis telescopic rod. A position detection and feedback mechanism is set in the program of the control unit. The position of the chassis telescopic rod is monitored in real time by the sensor. When the preset extension or retraction position is reached, the control unit stops driving the central motor rod.

7. A method for operating the turtle-fish dual-morph transformation underwater working robot according to claim 1, characterized in that It includes the following steps: (1) When the central motor rod is extended or retracted, it drives the chassis telescopic rod to extend or retract at the same time, causing the entire robot to deform. By transforming into different forms, the robot's underwater working efficiency is improved. (2) A propeller is installed at the bottom to drive the robot to move underwater and change direction, helping the robot to complete forward, backward, turning, and U-turn movements underwater; (3) The top camera conducts real-time underwater monitoring and recording to complete the overall work task.

8. The method for operating a turtle-fish dual-morph transformation underwater operation robot according to claim 7, characterized in that The robot undergoes telescopic deformation through the central motor rod. When the central motor rod is extended, it drives the chassis telescopic rod to be retracted into the chassis, so that the robot as a whole is in a contracted state, similar to a fish shape, and the overall shape is streamlined to reduce resistance; when the central motor rod is contracted, it drives the chassis telescopic rod to open, and at the same time the side wing shell is driven to open, so that the robot as a whole is in an open state, similar to a turtle shape, and the top is hemispherical to enhance stability.

9. The method for operating a turtle-fish dual-morph transformation underwater operation robot according to claim 7, characterized in that The robot is equipped with a propeller at the bottom to provide driving power for the robot, enabling it to move underwater. It is the robot's power device. When changing the robot's movement direction, one of the propellers is turned off to turn the robot around, allowing the robot to perform normal target movement functions; the servo is directly connected to the propeller's drive shaft to adjust the propeller's deflection angle; the control unit synchronously controls the servo and propeller's drive motors through PWM signals to achieve forward, backward, steering and U-turn functions.

10. The method for operating a turtle-fish dual-morph transformation underwater operation robot according to claim 7, characterized in that A survey camera is installed inside the top protective shell. When the robot is working underwater, it normally surveys the underwater environment, performs 360-degree surround monitoring and records in real time.

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