A biomimetic water snake detection robot and its control method

Abstract

This application proposes a biomimetic water snake detection robot and its control method, relating to the field of marine engineering detection technology. The biomimetic water snake detection robot comprises multiple independently operating individual biomimetic water snake detection robots. Each individual robot includes a body and a control module. The head and tail of the body are respectively provided with detachable connection structures. The control module is located inside the body and is used to control the opening and closing of the detachable connection structures. The multiple individual biomimetic water snake detection robots can autonomously connect underwater to form a chain-like reconfigurable state, or separate into individual states, through the detachable connection structures at the head and tail. By introducing multiple independently operating individual biomimetic water snake detection robots, each with a detachable connection structure and a built-in control module, dynamic reconfiguration and separation of the biomimetic water snake detection robots are achieved, improving the robot's scene adaptability and detection efficiency.

Description

Technical Field

[0001] This application relates to the field of marine engineering inspection technology, and in particular to a biomimetic water snake inspection robot and its control method. Background Technology

[0002] In recent years, with the rapid development of marine resource development and marine engineering construction, the demand for precise inspection of underwater infrastructure has been increasing. For example, structures such as subsea pipelines, drilling platform joints, and cross-sea bridge foundations require regular condition checks to prevent corrosion, cracks, or structural damage, ensuring operational safety. Traditional inspection methods, such as manual divers or fixed monitoring equipment, have drawbacks including high risks to personnel, limited coverage, and poor flexibility. Therefore, underwater autonomous inspection robot technology has developed rapidly. Among them, the biomimetic water snake inspection robot, with its unique shape and highly biomimetic flexible motion characteristics, can adapt to complex underwater flow environments and perform low-disturbance scanning of targets at close range, making it one of the important tools in the field of marine engineering inspection.

[0003] Existing biomimetic water snake inspection robots are typically designed and manufactured with fixed length specifications (e.g., 1-meter, 5-meter, or longer models are offered depending on the application). This fixed-length design shows significant advantages in inspecting large open water areas: the longer body can cover a larger area in a single voyage, such as continuously scanning the outer walls of large subsea tanks or long-distance submarine cables, significantly improving inspection efficiency.

[0004] However, this fixed-length design has revealed serious limitations in practical applications: when inspection tasks involve confined spaces (such as the inner walls of pipes, narrow passages inside shipwrecks, dense coral reef crevices, or the base of pile foundations), the long robots, originally designed for efficient large-area inspection, cannot change their physical length, making it difficult to maneuver or squeeze into these confined spaces, resulting in incomplete inspection tasks or significant blind spots. Even though there are shorter robot models in the existing technology, their individual structures are difficult to achieve efficient large-area coverage in open water. This contradiction forces operators to replace or deploy robots of different lengths for specific areas when facing mixed environments, which not only increases equipment configuration, transportation costs, and operational complexity (e.g., multiple deployments and retrievals), but also reduces the timeliness and economy of the overall inspection operation.

[0005] Therefore, although existing biomimetic water snake robots have made significant progress in motion control and biomimetic design, their fixed-length structural characteristics result in insufficient length adaptability when dealing with mixed detection needs (such as scenarios where open water and narrow areas alternate). This deficiency limits the scene adaptability of existing biomimetic water snake robots in actual operations, making it difficult to balance detection efficiency with practical application. Summary of the Invention

[0006] In view of this, this application proposes a biomimetic water snake detection robot and control method to solve the problems of limited scene adaptability and difficulty in achieving both detection efficiency and detection efficiency in the actual operation of existing biomimetic water snake robots.

[0007] The technical solution of this application is implemented as follows:

[0008] In a first aspect, this application provides a biomimetic water snake detection robot, comprising multiple independently operable individual biomimetic water snake detection robots, each of which includes:

[0009] The body has detachable connection structures at its head and tail sections.

[0010] The control module, located inside the machine body, is used to control the opening and closing of the detachable connection structure;

[0011] Among them, multiple individual biomimetic water snake detection robots can autonomously connect underwater to form a chain-like recombinant state or separate into individual states through the detachable connection structure of the head and tail.

[0012] Based on the above technical solution, preferably, the detachable connection structure includes:

[0013] The electromagnetic connection assembly includes a first electromagnet and a second electromagnet electrically connected to the control module. The tail end face of the body is a conical structure, and the head of the body is provided with a guide conical groove that matches the conical structure. The first electromagnet is fixedly disposed on the tail conical end face of the body, and the second electromagnet is fixedly disposed at the bottom of the guide conical groove.

[0014] The locking connection assembly includes mechanical grippers and clamps, with mechanical grippers and clamps provided on both radial sides of the head and tail, and the positions of the mechanical grippers and clamps at the head and tail corresponding to each other.

[0015] Based on the above technical solution, preferably, the mechanical gripper includes:

[0016] The bracket is fixedly mounted on the surface of the machine body.

[0017] The linear actuator, installed inside the machine body and electrically connected to the control module, is used to provide linear extension and retraction power;

[0018] There are two linkage mechanisms, symmetrically hinged to both sides of the support;

[0019] Two symmetrically arranged grippers are hinged to one end of a linkage mechanism, and the inner side of each gripper has a groove that cooperates with a gripper.

[0020] The linkage assembly includes a transmission rod and a connecting rod. The two ends of the transmission rod are respectively hinged to the other end of the connecting rod structure. One end of the transmission rod is fixedly connected to the middle of the connecting rod, and the other end moves through the bracket and extends into the machine body to connect with the drive end of the linear actuator.

[0021] When the linear actuator extends or retracts, it drives the linkage mechanism to rotate through the linkage component, thereby driving the double grippers to perform closing or opening actions.

[0022] Based on the above technical solution, preferably, the linkage mechanism includes a first link, a second link, and a third link. The first end of the first link is hinged to the bracket, and the second end of the first link is hinged to the gripper. The second link is parallel to the first link, and its two ends are hinged to the bracket and the gripper, respectively. The second end of the first link is bent inward toward the bracket to form a linkage rod. One end of the third link is hinged to one end of the transmission rod, and the other end is hinged to the end of the linkage rod away from the first link.

[0023] Based on the above technical solution, preferably, the body includes a head joint, a tail joint, a fuselage joint, a first soft joint, and a second soft joint;

[0024] The first flexible joint includes a first flexible connecting tube and a built-in first joint drive assembly. The head joint and the body joint are sealed together by the first flexible connecting tube. The first joint drive assembly is used to drive the head joint to pitch or swing horizontally relative to the body joint.

[0025] The second flexible joint includes a second flexible connecting tube and a built-in second joint drive assembly. The tail joint and the fuselage joint are sealed together by the second flexible connecting tube. The second joint drive assembly is used to drive the tail joint to pitch or swing horizontally relative to the fuselage joint.

[0026] Both the first joint drive assembly and the second joint drive assembly are electrically connected to the control module.

[0027] Based on the above technical solution, preferably, the first joint drive assembly and the second joint drive assembly are symmetrically arranged, wherein the first joint drive assembly includes a first servo motor, a second servo motor, a first swing frame and a second swing frame;

[0028] The first servo motor is fixedly mounted at the end of the fuselage joint facing the nose joint;

[0029] One end of the first swing frame is fixedly connected to the rotating end of the first servo motor, and the other end is fixedly connected to the second servo motor. The first servo motor is used to drive the first swing frame to make pitching motion.

[0030] One end of the second swing frame is fixedly connected to the rotating end of the second servo motor, and the other end is fixedly connected to the end of the nose joint facing the fuselage joint. The second servo motor is used to drive the second swing frame to swing horizontally.

[0031] The rotation axes of the first and second servos are perpendicular to each other.

[0032] Based on the above technical solution, preferably, the single biomimetic water snake detection robot also includes a power component electrically connected to the control module. The power component includes a first thruster and a second thruster. The first thruster has four units, which are symmetrically arranged in pairs on both sides of the body joint to provide horizontal thrust. The second thruster is located in the tail joint to provide lift.

[0033] Based on the above technical solution, preferably, the single-unit bionic water snake detection robot further includes a detection module electrically connected to the control module, and the detection module is disposed inside the head joint and / or tail joint.

[0034] Based on the above technical solution, preferably, the detection module includes a visual acquisition unit and an ultrasonic detection unit.

[0035] Secondly, this application discloses a control method for a biomimetic water snake detection robot, including the following steps:

[0036] S1. Recombination and docking stage: The head guide cone groove and tail cone end face of adjacent single bionic water snake detection robots are controlled to achieve adsorption docking through electromagnetic connection components.

[0037] S2, Mechanical Locking Stage: The mechanical gripper of the locking connection component is activated, driving the gripper to bite the gripper on the adjacent single bionic water snake detection robot, forming a chain-like recombination state;

[0038] S3, Separation Control Stage: Control the mechanical gripper of the locking connection component to release the gripper, shut off the power supply to the electromagnetic connection component, and restore the single bionic water snake detection robot to its independent working state.

[0039] This application has the following advantages over the prior art:

[0040] (1) The biomimetic water snake detection robot disclosed in this application introduces multiple independently working single biomimetic water snake detection robots. Each single biomimetic water snake detection robot has a detachable connection structure and a built-in control module, realizing the dynamic reconfiguration function of the biomimetic water snake detection robot: it can autonomously form a chain-like reconfiguration state to efficiently cover large areas of open water, or separate into single states to flexibly explore narrow and restricted areas. This comprehensively improves the robot's scene adaptability and detection efficiency, fundamentally solving the defect of existing fixed-length robots that cannot simultaneously achieve efficient large-area coverage and narrow space entry.

[0041] (2) Through the dual collaborative design of electromagnetic connection components and locking connection components, while ensuring the flexibility of rapid and accurate connection / separation between individual units, the resistance to water flow impact and mechanical stability of the chain recombination state are greatly enhanced, ensuring the reliability of long-distance detection in open waters, thus taking into account both efficient large-area scanning and high robust narrow space exploration capabilities, and completely solving the adaptability defects of fixed-length robots that cannot adapt to mixed water scenarios.

[0042] (3) Through the design of rigid joint body + dual soft joint coordinated drive, the bionic motion performance is achieved while maintaining the load capacity of the body: the flexible connecting tubes of the two soft joints provide independent pitch / horizontal swing degrees of freedom of the head and tail relative to the body joints, enabling the robot to pass through extremely narrow environments such as pipe bends and shipwrecks with multimodal bionic motion. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the three-dimensional structure of the single biomimetic water snake detection robot disclosed in this application after reassembly.

[0045] Figure 2 This is a schematic diagram of the reassembled planar structure of the single biomimetic water snake detection robot disclosed in this application;

[0046] Figure 3 This is a first-person view diagram of the docking state of the single-unit biomimetic water snake inspection robot disclosed in this application.

[0047] Figure 4 This is a second-view diagram of the docking state of the single-unit biomimetic water snake inspection robot disclosed in this application.

[0048] Figure 5 for Figure 1 Enlarged view of a portion of point A in the middle;

[0049] Figure 6 This is a planar sectional view of the single-unit biomimetic water snake detection robot disclosed in this application;

[0050] Figure 7 This is a three-dimensional structural diagram of the first joint drive assembly disclosed in this application;

[0051] Figure label:

[0052] 1. Single-unit biomimetic water snake inspection robot;

[0053] 11. Airframe; 1121. Guide cone groove; 111. Nose joint; 112. Tail joint; 113. Fuselage joint; 114. First flexible joint; 115. Second flexible joint; 1141. First flexible connecting tube; 1142. First joint drive assembly; 1151. Second flexible connecting tube; 1152. Second joint drive assembly; 1142a. First servo; 1142b. Second servo; 1142c. First swing frame; 1142d. Second swing frame;

[0054] 12. Detachable connection structure; 121. Electromagnetic connection assembly; 1211. First electromagnet; 1212. Second electromagnet; 122. Locking connection assembly; 123. Mechanical gripper; 124. Grip; 1231. Bracket; 1232. Linear actuator; 1233. Linkage mechanism; 1234. Gripper; 1234a. Slot; 1235. Linkage assembly; 1235a. Transmission rod; 1235b. Connecting rod; 1233a. First link; 1233b. Second link; 1233c. Third link; 1233d. Linkage rod;

[0055] 13. Control module; 14. Power assembly; 141. First thruster; 142. Second thruster; 15. Detection module. Detailed Implementation

[0056] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0057] like Figure 1 As shown, combined with Figure 2-6 This application discloses a biomimetic water snake detection robot, which includes multiple independently working single biomimetic water snake detection robots 1, each of which includes a body 11 and a control module 13.

[0058] The body 11 is cylindrical, resembling a snake, and has detachable connection structures 12 at its head and tail. Its opening and closing operation (i.e., open or closed state) can be controlled by a control module 13. This opening and closing mechanism allows for physical connection or separation between individual units in an underwater environment.

[0059] The control module 13 is installed inside the body 11 and is used to drive the opening and closing process of the detachable connection structure 12. It can receive instructions or preset programs through an internal processing unit (such as a microcontroller) and generate control signals to trigger the locking or releasing mechanism of the connection structure. The module achieves fully autonomous control without the need for external manual intervention.

[0060] Multiple individual biomimetic water snake detection robots 1 can autonomously connect underwater to form a chain-like recombinant state or separate into individual states through the detachable connection structure 12 at the head and tail.

[0061] By controlling the opening and closing of the detachable connection structure 12 through the control module 13, multiple individual units can autonomously connect to form a chain-like recombinant state (improving the overall detection coverage) or separate into individual units (facilitating entry into narrow spaces) according to task requirements. This solves the adaptability problem of fixed-length robots, enhances the robot's flexibility and applicability in mixed environments (such as scenarios alternating between open water and restricted areas), and avoids the inefficiency problem caused by equipment replacement.

[0062] In this embodiment, the control module uses a built-in multi-source sensor fusion system (underwater acoustic positioning, depth gauge, inertial navigation) to perceive the environment and the state of the body in real time (such as water flow intensity, spatial size, target distance), and autonomously decides on reorganization, separation or maneuvering actions based on a preset algorithm (such as finite state machine or reinforcement learning model) - for example, triggering a single-unit separation command in a narrow area, and initiating a chain reorganization request in an open water area.

[0063] The biomimetic water snake detection robot disclosed in this application introduces multiple independently operating individual biomimetic water snake detection robots. Each individual robot has a detachable connection structure and a built-in control module, enabling dynamic reconfiguration of the robot: it can autonomously form a chain-like reconfiguration state to efficiently cover large open water areas, or separate into individual states to flexibly explore narrow and confined areas. This comprehensively improves the robot's scene adaptability and detection efficiency, fundamentally solving the shortcomings of existing fixed-length robots that cannot simultaneously achieve efficient large-area coverage and narrow space entry.

[0064] In order to realize the recombination and separation of multiple individual biomimetic water snake detection robots 1, this embodiment shows one implementation of a detachable connection structure 12. Specifically, the detachable connection structure 12 includes an electromagnetic connection component 121 and a locking connection component 122.

[0065] The electromagnetic connection assembly 121 includes a first electromagnet 1211 and a second electromagnet 1212 that are electrically connected to the control module 13. The tail end face of the body 11 is a conical structure, and the head of the body 11 is provided with a guide conical groove 1121 that cooperates with the conical structure. When the two units approach each other, the conical structure automatically embeds into the guide conical groove 1121 to achieve physical alignment and guidance.

[0066] The first electromagnet 1211 is fixedly mounted on the conical end face of the tail of the body 11, and the second electromagnet 1212 is fixedly mounted on the bottom of the guide conical groove 1121. When the two electromagnets are energized by the control module 13, a magnetic attraction force is generated, causing the head and tail to adhere tightly; when the power is off, the magnetic force disappears and the connection is released.

[0067] The conical structure and guide conical groove 1121 provide initial physical guidance, ensuring rapid and accurate positioning between individual units; the electromagnet achieves automatic, contactless connection / separation through magnetic attraction. This design significantly improves the efficiency and reliability of underwater connections (especially under water flow disturbances), avoiding potential misalignment problems between the mechanical gripper 123 and the clamp 124. Simultaneously, the electromagnetic control offers fast response and low energy consumption, adapting to dynamic reconfiguration requirements.

[0068] The locking connection assembly 122 includes a mechanical gripper 123 and a gripper 124. The mechanical gripper 123 and the gripper 124 are provided on both radial sides of the head and the tail, and the positions of the mechanical gripper 123 and the gripper 124 at the head and the tail correspond to each other.

[0069] After the two units are initially connected via an electromagnet, the control module 13 drives the gripper 124 to interlock with the gripper, forming a lateral mechanical fixation. The mechanical gripper 123 and the gripper 124 work together to provide rigid reinforcement, forming a double safety net with the electromagnetic adsorption. The radial locking resists the impact of water flow or the lateral stress during robot movement, preventing the chain structure from twisting or accidentally disengaging.

[0070] Through the dual collaborative design of electromagnetic connection component 121 and locking connection component 122, while ensuring the flexibility of rapid and accurate connection / separation between individual units, the resistance to water flow impact and mechanical stability of the chain-recombined state are greatly enhanced, ensuring the reliability of long-distance detection in open waters. Thus, it takes into account both efficient large-area scanning and highly robust narrow space exploration capabilities, completely solving the adaptability defects of fixed-length robots that cannot adapt to mixed water scenarios.

[0071] As some implementations, the mechanical gripper 123 includes a support 1231, a linear actuator 1232, a linkage mechanism 1233, a gripper 1234, and a linkage assembly 1235.

[0072] The bracket 1231 serves as a rigid foundation, fixed to the surface of the body 11, providing a stable support point for the entire mechanical gripper 123. Specifically, at the head of the body 11, the bracket 1231 in the mechanical gripper 123 is fixedly installed on the outer wall of the guide cone groove 1121. Correspondingly, at the tail of the body 11, the bracket 1231 in the mechanical gripper 123 is fixedly installed on the outer wall of the cone-shaped structure.

[0073] Linear actuator 1232, installed inside the body 11, is electrically connected to the control module 13 and is used to provide linear telescopic power. Linear actuator 1232 receives instructions from the control module 13 and converts electrical energy into linear telescopic power (such as an electric actuator or an electromagnetic actuator), directly driving the linkage assembly 1235 to move.

[0074] Two linkage mechanisms 1233 are provided, symmetrically hinged to both sides of the bracket 1231. Two symmetrically arranged grippers 1234 are each hinged to one end of the linkage mechanism 1233. The inner side of the gripper 1234 has a groove 1234a that cooperates with the gripper. The extension and retraction motion of the linear actuator 1232 is converted into the rotational motion of the gripper 1234 through the lever principle. The gripper 1234 is linked to the linkage mechanism 1233 through the hinge point. When the linkage rotates, it drives the gripper 1234 to open and close, and the inner groove 1234a precisely engages with the gripper 124.

[0075] The linkage assembly 1235 includes a transmission rod 1235a and a connecting rod 1235b. Both ends of the transmission rod 1235a are hinged to the other ends of the connecting rod structure. One end of the transmission rod 1235a is fixedly connected to the middle of the connecting rod 1235b, and the other end movably passes through the bracket 1231 and extends into the machine body 11, connecting to the drive end of the linear actuator 1232. When the linear actuator 1232 extends or retracts, the linkage assembly 1235 translates, causing the connecting rod mechanism 1233 to rotate, thereby driving the double grippers 1234 to perform closing or opening actions.

[0076] The working principle of the mechanical gripper 123 is as follows: When the control module 13 sends a command to the linear actuator 1232, the linear actuator 1232 outputs linear extension and retraction power, which pushes the transmission rod 1235a in the linkage assembly 1235 to move axially; the transmission rod 1235a drives the two-side linkage mechanism 1233 to rotate synchronously through the connecting rod 1235b (the double linkage moves in a strictly symmetrical manner), which in turn drives the symmetrically arranged grippers 1234 to perform closing or opening actions around the hinge point: when closing, the inner groove 1234a of the gripper 1234 engages and locks with the grabber 124; when opening, the mechanical constraint is released.

[0077] The linear actuator 1232 drives the linkage assembly 1235 to drive the double-sided linkage mechanism 1233 to rotate synchronously, thereby precisely controlling the slot 1234a of the gripper 1234 to achieve deep engagement or disengagement with the grabber 124. This closed-loop mechanical transmission design significantly improves the physical performance of the locking connection.

[0078] This embodiment illustrates one structural configuration of the linkage mechanism 1233, which includes a first link 1233a, a second link 1233b, and a third link 1233c.

[0079] The first end of the first link 1233a is hinged to the bracket 1231, and the second end of the first link 1233a is hinged to the gripper 1234. The second link 1233b is parallel to the first link 1233a, and its two ends are hinged to the bracket 1231 and the gripper 1234 respectively, forming a stable constraint of the parallel four-bar linkage. The second end of the first link 1233a is bent inward toward the bracket 1231 to form a linkage 1233d. One end of the third link 1233c is hinged to one end of the connecting rod 1235b, and the other end is hinged to the end of the linkage 1233d away from the first link 1233a, converting the linear motion of the linkage assembly 1235 into the precise rotation of the linkage 1233d.

[0080] When the linear actuator 1232 drives the transmission rod 1235a to extend or retract, the connecting rod 1235b drives the linkage rod 1233d to rotate through the third link 1233c, forcing the first link 1233a to rotate around the hinge point as the axis, and then through the parallel constraint of the second link 1233b, drives the gripper 1234 to perform zero-false-position opening and closing.

[0081] By adding parallel constraints to the second link 1233b and forced transmission to the third link 1233c, a triple redundant and stable kinematic chain is constructed: the parallel layout of the second link 1233b eliminates lateral virtual displacement when the gripper 1234 moves (avoiding misalignment between the slot 1234a and the grabber 124), and the rigid hinge of the third link 1233c and the linkage rod 1233d ensures zero backlash in power transmission, improves locking response speed, and enhances the anti-eccentric load capacity of the mechanical gripper 123 while maintaining the original compact size. It is especially suitable for high-precision locking requirements in underwater environments with strong disturbances, and completely solves the problem of locking failure or accelerated wear caused by cumulative joint errors, providing a basic structural guarantee for reliable connection under extreme working conditions.

[0082] As some implementations, the body 11 includes a head joint 111, a tail joint 112, a fuselage joint 113, a first soft joint 114, and a second soft joint 115.

[0083] The head joint 111, tail joint 112, and body joint 113, as the core load-bearing units of the robot, are located at the head, tail, and middle, respectively, and house key components such as the control module 13 and the detection module. In this embodiment, the detection module and the power supply module are both installed in the body joint 113.

[0084] The first flexible joint 114 includes a first flexible connecting pipe 1141 and a built-in first joint drive assembly 1142. The head joint 111 and the body joint 113 are sealed together by the first flexible connecting pipe 1141, which enables waterproof sealing and multi-directional deformation between the head joint 111 and the body joint 113. The first flexible connecting pipe 1141 can be a corrugated pipe. The first joint drive assembly 1142 is used to drive the head joint 111 to pitch or swing horizontally relative to the body joint 113, allowing the robot head to avoid obstacles (such as pipe bends) and improving adaptability in narrow spaces.

[0085] The second flexible joint 115 is mirror-symmetrical to the first flexible joint 114. It includes a second flexible connecting tube 1151 and a built-in second joint drive assembly 1152. The tail joint 112 and the fuselage joint 113 are sealed together by the second flexible connecting tube 1151. The second joint drive assembly 1152 is used to drive the tail joint 112 to pitch or swing horizontally relative to the fuselage joint 113.

[0086] Both the first joint drive component 1142 and the second joint drive component 1152 are electrically connected to the control module 13. Through the coordinated cooperation of the first joint drive component 1142 and the second joint drive component 1152, the head joint and tail joint can be deformed relative to the body joint 113, enabling the single robot to have bidirectional bending freedom (such as C-shaped thrust and S-shaped swimming), greatly optimizing the turning radius and adapting to complex terrains such as coral reefs.

[0087] Through the design of a rigid joint body and dual soft joints working together, a breakthrough in bionic motion performance is achieved while maintaining the load capacity of the body 11: the flexible connecting tubes of the two soft joints provide independent pitch / horizontal swing degrees of freedom for the head and tail relative to the body joint 113, enabling the robot to traverse extremely narrow environments such as pipe bends and shipwrecks with multimodal bionic motion.

[0088] In some implementations, the first joint drive assembly 1142 and the second joint drive assembly 1152 are mirror images. The following description uses the first joint drive assembly 1142 as an example, wherein... (refer to the attached...) Figure 7 As shown, the first joint drive assembly 1142 includes a first servo motor 1142a, a second servo motor 1142b, a first swing frame 1142c, and a second swing frame 1142d.

[0089] The first servo motor 1142a is fixedly mounted on the end of the fuselage joint 113 facing the nose joint 111. One end of the first swing frame 1142c is fixedly connected to the rotating end of the first servo motor 1142a, and the other end is fixedly connected to the second servo motor 1142b. The first servo motor 1142a is used to drive the first swing frame 1142c to perform pitch motion.

[0090] One end of the second swing frame 1142d is fixedly connected to the rotating end of the second servo motor 1142b, and the other end is fixedly connected to the end of the nose joint 111 facing the fuselage joint 113. The second servo motor 1142b is used to drive the second swing frame 1142d to swing horizontally.

[0091] In this embodiment, when the first servo motor 1142a is working, it will drive the first swing frame 1142c to pitch up and down, thereby causing the whole consisting of the first swing frame 1142c, the second servo motor 1142b, the second swing frame 1142d and the nose joint 111 to pitch, thereby controlling the nose joint 111 to "nod" pitch relative to the fuselage joint 113.

[0092] The rotation axis of the second servo motor 1142b is perpendicular to the rotation axis of the first servo motor 1142a. When the second servo motor 1142b is working, it drives the second swing frame 1142d to swing horizontally. At this time, the first swing frame 1142c and the nose joint 111 as a whole swing horizontally relative to the fuselage joint 113. This enables the second servo motor 1142b to control the "head-shaking" horizontal steering of the nose joint 111, and the two work together to achieve precise deflection with two degrees of freedom in space.

[0093] The first servo motor 1142a controls the pitch motion (longitudinal degree of freedom), and the second servo motor 1142b independently drives the horizontal oscillation (lateral degree of freedom), enabling the fuselage joint 113 to perform compound bending in any direction of the nose joint 111 with the front pivot point as the center, such as 45° pitch + 30° yaw.

[0094] As one implementation, the single-unit biomimetic water snake detection robot 1 also includes a power assembly 14 electrically connected to the control module 13. The power assembly 14 has a first thruster 141 and a second thruster 142. Four first thrusters 141 are arranged symmetrically in pairs on both sides of the body joint 113 to provide horizontal thrust. Specifically, the horizontal displacement (such as forward / backward, left / right turning) is controlled by differential thrust.

[0095] The second thruster 142 is located in the tail joint 112 and provides vertical lift or downforce to adjust the robot's water attitude (such as surfacing / diving).

[0096] The first thruster cluster 141 enables precise horizontal maneuvering (such as wall-hugging cruise and sharp turn obstacle avoidance), while the second thruster 142 independently maintains depth stability. The two are electrically linked to form a three-degree-of-freedom motion control.

[0097] As one implementation, the single-unit bionic water snake detection robot 1 also includes a detection module 15 electrically connected to the control module 13, the detection module 15 being disposed inside the head joint 111 and / or the body joint 113.

[0098] The detection module 15 includes a visual acquisition unit and an ultrasonic detection unit. The visual acquisition unit (such as a high-definition camera or laser scanner) actively acquires optical information of the target surface, while the ultrasonic detection unit (such as a phased array probe) emits high-frequency sound waves that penetrate the covering or the interior of the structure and receives the echoes to analyze the defect characteristics.

[0099] In this embodiment, the visual acquisition unit is located in the nose joint 111, and the ultrasonic detection unit is located in the tail joint 112. Of course, both the visual acquisition unit and the ultrasonic detection unit can be located in the nose joint 111 and the tail joint 112.

[0100] This application also discloses a control method for a biomimetic water snake detection robot, including the following steps:

[0101] S1. Recombination and docking stage: The head guide cone groove 1121 and the tail cone end face of the adjacent single bionic water snake detection robot 1 are controlled to achieve adsorption docking through the electromagnetic connection component 121.

[0102] Specifically, the control module 13 sends an activation command to the electromagnetic connection assembly 121 of the adjacent unit, causing the second electromagnet 1212 in the head guide cone groove 1121 and the first electromagnet 1211 on the tail cone end face to be energized simultaneously, generating a strong magnetic attraction. Under the guidance of the magnetic force, the tail cone structure automatically embeds into the head guide cone groove 1121, completing physical alignment and initial adsorption.

[0103] S2, Mechanical locking stage: The mechanical gripper 123 of the locking connection component 122 is activated, and the gripper 1234 is driven to bite the gripper 124 on the adjacent single bionic water snake detection robot 1, forming a chain-like recombination state.

[0104] The control module 13 sends a locking command to the locking connection assembly 122, driving the linear actuator 1232 to retract. The linkage assembly 1235 pulls the double-sided connecting rods. The inner slot 1234a of the gripper 1234 forcibly engages the grabber 124 by lever amplification, forming a radial mechanical constraint. This fixes multiple individual robots end to end to form a chain structure, thereby increasing the length of the bionic water snake robot. The recombinant multi-body bionic water snake inspection robot is suitable for large-scale underwater facility inspection and can effectively ensure inspection efficiency.

[0105] S3, Separation Control Stage: The mechanical gripper 123 of the locking connection assembly 122 releases the gripper 124, and the power supply to the electromagnetic connection assembly 121 is turned off, allowing the single bionic water snake detection robot 1 to resume independent working state. The single bionic water snake detection robot 1 is small in size and can enter narrow pipes, gaps or other confined spaces independently, effectively reducing blind spots in detection.

[0106] By using electromagnetic and mechanical locking mechanisms to work together, multiple individual bionic water snake detection robots 1 are intelligently recombined and separated, enabling them to adapt to different complex working areas, improving detection efficiency and reducing blind spots.

[0107] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A biomimetic water snake detection robot, characterized in that, The application relates to a multiple-unit bionic water-snake detection robot. The head and tail of the body are respectively provided with detachable connecting structures; A control module is arranged in the body and is used for controlling the opening and closing of the detachable connecting structures; The multiple-unit bionic water-snake detection robots are connected into a chain-shaped reconfiguration or separated into single units through the detachable connecting structures of the head and tail. The detachable connecting structure comprises: An electromagnetic connecting assembly comprises a first electromagnet and a second electromagnet which are electrically connected with the control module, the tail end surface of the body is a conical structure, the head of the body is provided with a guide conical groove matched with the conical structure, the first electromagnet is fixedly arranged on the conical end surface of the tail of the body, and the second electromagnet is fixedly arranged on the bottom of the guide conical groove; A locking connecting assembly comprises mechanical grippers and clamps, the radial two sides of the head and the tail are respectively provided with the mechanical grippers and the clamps, and the positions of the mechanical grippers and the clamps of the head and the tail correspond to each other. The mechanical gripper comprises: A support is fixedly arranged on the surface of the body; A linear actuator is arranged in the body and is electrically connected with the control module and is used for providing linear extension and contraction power; A connecting rod mechanism is arranged on the two sides of the support and is symmetrically hinged; Two symmetrical clamps are respectively hinged to one end of the connecting rod mechanism, and the inner side of the clamp is provided with a clamping groove matched with the gripper; A linkage assembly comprises a transmission rod and a connecting rod, the two ends of the transmission rod are respectively hinged to the other end of the connecting rod structure, one end of the transmission rod is fixedly connected with the middle part of the connecting rod, and the other end is movably arranged through the support and is connected with the driving end of the linear actuator arranged in the body; When the linear actuator is extended or contracted, the linkage assembly is translated to drive the connecting rod mechanism to rotate, so that the double clamps are driven to perform the folding or opening action; The connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, the first end of the first connecting rod is hinged to the support, the second end of the first connecting rod is hinged to the clamp, the second connecting rod is parallel to the first connecting rod, the two ends of the second connecting rod are respectively hinged to the support and the clamp, the second end of the first connecting rod is bent towards the inside of the support to form a linkage rod, one end of the third connecting rod is hinged to one end of the connecting rod, and the other end is hinged to the end of the linkage rod away from the first connecting rod.

2. The biomimetic water snake detection robot of claim 1, wherein: The body comprises a head joint, a tail joint, a body joint, a first soft joint and a second soft joint; The first soft joint comprises a first flexible connecting pipe and a built-in first joint driving assembly, the head joint and the body joint are sealingly connected through the first flexible connecting pipe, and the first joint driving assembly is used for driving the head joint to perform pitching or horizontal swinging relative to the body joint; The second soft joint comprises a second flexible connecting pipe and a built-in second joint driving assembly, the tail joint and the body joint are sealingly connected through the second flexible connecting pipe, and the second joint driving assembly is used for driving the tail joint to perform pitching or horizontal swinging relative to the body joint; The first joint driving assembly and the second joint driving assembly are electrically connected with the control module.

3. The biomimetic water snake detection robot of claim 2, wherein: The first joint driving assembly and the second joint driving assembly are mirror images, wherein the first joint driving assembly comprises a first steering engine, a second steering engine, a first swing frame and a second swing frame; The first steering engine is fixedly arranged at one end of the machine body joint towards the machine head joint; One end of the first swing frame is fixedly connected with the rotating end of the first steering engine, and the other end is fixedly connected with the second steering engine, and the first steering engine is used for driving the first swing frame to perform pitching motion; One end of the second swing frame is fixedly connected with the rotating end of the second steering engine, and the other end is fixedly connected with one end of the machine head joint towards the machine body joint, and the second steering engine is used for driving the second swing frame to perform horizontal swing; The rotating axes of the first steering engine and the second steering engine are perpendicular to each other.

4. The biomimetic water snake detection robot of claim 2, wherein: The single bionic water snake detection robot further comprises a power assembly electrically connected with the control module, the power assembly comprises a first propeller and a second propeller, the first propeller is provided with four, and two are symmetrically arranged on both sides of the machine body joint to provide horizontal thrust, and the second propeller is arranged in the tail joint to provide lift.

5. The biomimetic water snake detection robot of claim 2, wherein: The single bionic water snake detection robot further comprises a detection module electrically connected with the control module, and the detection module is arranged inside the machine head joint and / or the tail joint.

6. The biomimetic water snake detection robot of claim 5, wherein: The detection module comprises a visual acquisition unit and an ultrasonic detection unit.

7. A control method of a biomimetic water snake detection robot according to any one of claims 1 to 6, characterized in that, The method comprises the following steps: S1, recombination docking stage: control the head guide cone groove and the tail conical end face of the adjacent single bionic water snake detection robot to realize adsorption docking through the electromagnetic connection assembly; S2, mechanical locking stage: start the mechanical gripper of the locking connection assembly, drive the clamping jaw to engage the catch on the adjacent single bionic water snake detection robot, and form a chain type recombination state; S3, separation control stage: control the mechanical gripper of the locking connection assembly to release the catch, turn off the power supply of the electromagnetic connection assembly, and make the single bionic water snake detection robot restore the independent working state.

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