The invention discloses a sea-turtle-imitating
robot for
submarine pipeline leakage monitoring and a multi-
mode control method thereof.The sea-turtle-imitating
robot comprises a
trunk, a head, a top cover, two pectoral fin plates, a
tail fin plate, pectoral fin driving devices, a
gravity center adjusting mechanism and a detection
control unit, and the two pectoral fin plates are symmetrically arranged on the left side and the right side of the front portion of the
trunk; two pectoral fin driving devices are arranged on the inner side of the
trunk in a
bilateral symmetry mode, and each pectoral fin driving device drives the pectoral fin plate on the same side to move front and back and adjusts the angle posture of the pectoral fin plate. The
gravity center adjusting mechanism comprises a balancing weight, a linear guide mechanism and a
servo motor, and the
servo motor drives the balancing weight to move front and back. Two second steering engines are symmetrically arranged on the two sides of the rear end of the trunk, the two
tail fin plates are located on the left side and the right side of the rear portion of the trunk, and the execution ends of the second steering engines drive the
tail fin plates on the same sides to swing up and down. According to the invention,
polling along the
sea bottom pipeline is realized through
attitude control, image information is adopted and whether leakage occurs is judged, the maintenance cost is low, a leakage point can be found in time, and economic loss is reduced.