37 results about "Tentacle" patented technology

The invention discloses a device, system and method for detecting the position of a sown seed through touch and sound wave cooperative response, electronic equipment and a storage medium. The device comprises a sowing depth detection tentacle, an ultrasonic ranging module, an auditory sense imitating receiver and a walking mechanism; the sowing depth detection tentacles comprise a plurality of tentacles which are used at the same time and are used for sensing whether seeds exist in soil or not and sensing the spatial positions of the seeds; the method comprises the following steps: acquiring texture change information in a process of inserting a sowing depth detection tentacle into soil; acquiring a sound wave signal of the auditory imitation receiver when the sowing depth detection touch hand touches the inclusions in the soil; whether seeds exist in the soil or not is judged according to the resistance information and the sound wave signals; reading the spatial position of the seed; a sowing depth detection tentacle is moved to scan the to-be-detected area, and seed distribution position information after farmland sowing is obtained. The actual position of the seed can be accurately judged, and disturbance and damage to the position of the seed are reduced.

The invention discloses an unmanned aerial vehicle with a soft robot arm of a bionic octopus tentacle structure. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a mechanical arm installed at the bottom of the unmanned aerial vehicle body and the soft robot arm connected to the bottom of the mechanical arm. The soft robot arm is composed of a finger base and a plurality of octopus-tentacle-imitating colloidal silica bodies, and the octopus-tentacle-imitating colloidal silica bodies can be bent and deformed under air pressure driving and are used for flexibly grabbing a target object. Honeycomb-shaped micro-channels distributed in the axial direction are arranged in the silica gel body, and octopus-imitating suction cup microstructures are formed on the inner surfaces of the tentacles and comprise axial grooves and nanometer barbs which are used for enhancing friction force and grabbing stability. Pressure sensor arrays are integrated on the inner surface and the outer surface of the tentacle, contact pressure can be sensed in real time, and self-adaptive adjustment of grabbing force is achieved in combination with target form and texture information. The unmanned aerial vehicle device has the characteristics of high flexibility, high grabbing precision, high adaptive capacity and the like, and is particularly suitable for an ecological specimen collection task or agricultural product collection in a complex environment.

The invention discloses a jellyfish-imitating structure floating fish reef, and belongs to the technical field of artificial fish reefs. The jellyfish-imitating-structure floating fish reef comprises a buoyancy cabin, a plurality of vertically-hung strip-shaped tentacles and an anchoring assembly connected with the buoyancy cabin through a connecting cable set are arranged at the bottom of the buoyancy cabin, a bearing ring is fixedly connected to the lower portion of the buoyancy cabin, the strip-shaped tentacles are evenly distributed below the bearing ring, and through holes are formed in the bearing ring. A pair of arc-shaped moving plates are arranged on the buoyancy cabin in an attached mode, the pair of arc-shaped moving plates are fixedly connected with wave facing plates, the center position of the top of the buoyancy cabin is fixedly connected with a fixing plate, and the pair of arc-shaped moving plates are fixedly connected with extrusion rings. Kinetic energy is released after energy is stored through the extrusion spring, the extrusion ring is driven to press downwards periodically, water pressure flows in through the through hole, so that the strip-shaped tentacles are forced to shake at high frequency to simulate a movement mode when jellyfishes escape from natural enemies, and the dynamic trapping effect on fishes is remarkably improved.

The invention provides a bionic flexible seedling taking end effector which comprises a supporting mechanism, a depth camera, a tentacle driving mechanism, a flexible tentacle, a pressure supply mechanism, a pull rope mechanism and a controller, and the depth camera, the tentacle driving mechanism, the pull rope mechanism and the pressure supply mechanism are all electrically connected with the controller. The depth camera sends collected images to the controller, the controller judges the positions of seedlings according to the images and analyzes and calculates the distribution and radian of leaves, and when the seedling taking tail end executor moves to a target position, the controller controls the tentacle driving mechanism to drive the flexible tentacles to rotate to the positions above the corresponding leaves, and the flexible tentacles are driven to move to the target position. The rope pulling mechanism is controlled to act to lift the flexible tentacle, and the pressure supply mechanism acts to enable the flexible tentacle to adsorb and grab seedlings. According to the seedling taking end effector, biological characteristics of octopus are used for reference, the flexible tentacle is matched with negative pressure to adsorb and extract cabbage seedlings, then transplanting operation is achieved, damage to the seedlings is avoided, and the survival rate is increased.

A tentacle animal bionic lamp comprises a shell component and a plurality of curved tentacles; a driving device for driving the tentacles to rotate is arranged in the shell; a control device and a light source are arranged in the shell. According to the solution, the driving device is arranged in the shell to drive the tentacles to rotate, so as to achieve a good visual effect without the need of a complicated transmission structure, thereby simplifying the structure of the product; at the same time, the control is realized through the control device, which can assist in operations and improve the user experience.

The utility model discloses a jellyfish lamp which comprises a lamp shell, tentacles, a motor, a first gear set, a circuit board and lamp beads. The multiple whiskers are arranged at the bottom of the lamp shell. The motor is arranged in the lamp shell; the first gear set is connected with the output end of the motor; a plurality of connecting holes are formed in the bottom of the lamp shell, and the top ends of the whiskers penetrate through the connecting holes to be connected with the first gear set. The circuit board is arranged in the lamp shell and electrically connected with the motor. The lamp bead is arranged in the lamp shell and electrically connected with the circuit board. The jellyfish lamp is good in bionic effect, and the tentacles can rotate.

The invention relates to the technical field of medicine, and particularly discloses an endometriosis prescription for dysmenorrhea with endometriosis. Comprising the following raw materials: 10-15 parts of radix salviae miltiorrhizae, 7-10 parts of rhizoma curcumae, 2-3 parts of flos carthami, 7-10 parts of vinegar turtle shell, 10-15 parts of salted radix achyranthis bidentatae, 7-10 parts of rhizoma corydalis, 10-15 parts of prepared fingered citron, 5-8 parts of radix bupleuri, 10-15 parts of radix paeoniae alba, 10-15 parts of caulis spatholobi, 10-15 parts of poria cocos, 7-10 parts of herba taxilli, 7-10 parts of radix dipsaci, 3-5 parts of fructus amomi, 7-10 parts of endothelium corneum gigeriae galli, 10-15 parts of hawthorn and 7-10 parts of liquorice. The agreement prescription of the internal different prescription has obvious curative effects on improvement of dysmenorrhea symptoms of EMs patients, reduction of tentacle nodules and appendage masses, improvement of pelvic cavity states, increase of pregnancy rates and the like, and is safe and free of obvious toxic and side effects.

The utility model discloses a multi-tentacle telescopic device. According to the multi-tentacle telescopic device, a telescopic tentacle assembly, a rotating cover assembly and an overturning assembly are connected to a ball body, the telescopic tentacle assembly is installed in the ball body and partially extends out of the ball body, an opening is formed in the ball body, the rotating cover assembly and the overturning assembly are installed in the ball body and located in the area of the opening, and the rotating cover assembly rotates to open or close the opening. When the opening is in the open state, the overturning assembly can stretch out of or retract into the ball body along the opening. According to the utility model, the telescopic tentacle assembly can randomly extend out of the inside of the ball body, so that the interactivity and challenging property of games are increased; besides, the cover rotating assembly and the overturning assembly form an interlocking mechanism design, so that the overturning assembly can simulate the stretching-out and retracting actions of animals, the dynamic effect of the device is improved, the story and role sense are added to the device, and tourists enjoy the sports fun while the interestingness on the way is improved.

The present application relates to a kind of underwater robots, the purpose is to provide a kind of IPMC-based bionic odd shrimp device, which should be simple, small in size with the characteristics of local structure, facilitate underwater detection.Techinical scheme is a kind of bionic odd shrimp device based on IPMC drive, the device includes head, body and tail piece connected in sequence, and a plurality of wings connected on both sides of the body;Characterized in that: the head is provided with tentacle;The body includes a plurality of shell bodies connected in sequence and respectively provided with the wing piece, the closed inner cavity is formed between each shell body and connected with the head, three IPMC drive controllers and battery for controlling wing piece, tentacle and tentacle are arranged in the inner cavity;The head is provided with a small hole instead of odd shrimp eye, camera and illuminating lamp are arranged in the small hole;The wing piece, tail piece are all made of IPMC drive material and electrically connected IPMC drive controller.

The present invention discloses a magnetically controlled negative pressure adhesion device that mimics an octopus tentacle and a preparation method thereof, relating to the technical field of bionic structure intelligent devices. The device comprises a housing; a tentacle body, the tentacle body being conical in shape, the large-diameter end of the tentacle body being mounted on the housing; a suction cup, mounted on the side wall of the tentacle body and being a structural component made of an improved magnetically responsive polymer; a magnetic control assembly, mounted within the tentacle body and used to control the overall deformation of the suction cup, thereby driving the suction cup to generate different amounts of negative pressure; and a wire drive, mounted within the tentacle body and used to drive the tentacle body to extend and reel. The combination of the suction cup, made of an improved magnetically responsive polymer, and the magnetic control assembly facilitates adjustment of the negative pressure within the suction cup according to different objects, thereby achieving the goal of regulating the adhesion capability of the magnetically controlled negative pressure adhesion device that mimics an octopus tentacle provided by the present invention. Furthermore, the present invention has a simple structure and low manufacturing cost.

The invention relates to the technical field of amusement equipment, and provides dynamic mechanical jellyfish paddling equipment aiming at the situation that traditional paddling equipment lacks interestingness and interactivity, and the dynamic mechanical jellyfish paddling equipment comprises a jellyfish shell, a supporting assembly, a driving assembly and a water distribution assembly; the bottom of the jellyfish shell is rotationally connected with a plurality of first whisker pieces, and the first whisker pieces are hollow and open in two ends. The supporting mechanism comprises a fixing shaft which penetrates through the bottom of the jellyfish shell. The jellyfish is connected with the jellyfish shell; a fixed seat is arranged at the bottom end of the fixed seat; the driving assembly comprises a rotating shaft and a linkage part, the rotating shaft is coaxially and rotationally connected to the periphery of the fixing shaft in a sleeving mode, the linkage part forms a linkage relation between the rotating shaft and the first whisker parts, and the fixing shaft is of a tubular structure; the water distribution assembly comprises a water inlet pipe and a water distribution piece, the water inlet pipe communicates with the bottom end of the fixing shaft, and the water distribution piece is connected to the fixing shaft and the multiple first whisker pieces.

The utility model provides a whisker animal bionic lamp. The whisker animal bionic lamp comprises a shell assembly and a plurality of bent whiskers detachably connected with the shell assembly. A driving device for driving the whiskers to rotate is arranged in the shell; a control device is arranged in the shell and comprises a PCB (Printed Circuit Board), and a light source is also arranged in the shell; the driving device comprises a driving motor, and a driving gear is arranged on a transmission shaft of the driving motor; a driven gear set is rotatably arranged on the shell, the driving gear is meshed with the driven gear set, and the driving motor drives each whisker to rotate independently through the driven gear set. According to the scheme, the driving device is arranged in the shell to drive the whiskers to rotate, the visual effect is good, a complex transmission structure is not needed, and the structure of a product is greatly simplified; all the control assemblies and the driving assemblies are arranged in the shell, so that the product structure is compact; meanwhile, the induction module is arranged, induction control can be achieved, control is convenient, and user experience is improved.

The utility model discloses a squid tentacle cutting-through mould which comprises a lower mould and an upper mould which are mutually buckled, the surface of the lower mould is sequentially provided with a first positioning groove, a first positioning seat and a first skewer penetrating part, the surface of the upper mould is sequentially provided with a second positioning seat, a second positioning groove and a second skewer penetrating part, the second positioning seat is arranged in the first positioning groove, and the second positioning seat is arranged in the second positioning groove. The first positioning seat is arranged in the second positioning groove, the first skewer penetrating portion corresponds to the second skewer penetrating portion, a plurality of first skewer grooves penetrating through the first positioning groove, the first positioning seat and the first skewer penetrating portion are formed in the lower die at intervals, a first cutter groove is formed between every two adjacent first skewer grooves, and the first cutter grooves penetrate through the bottom face of the lower die. The lower die and the upper die are both provided with a plurality of skewer grooves and cutter grooves, squid tentacles are positioned between the upper die and the lower die, the squid tentacles are cut and skewered through the cutter and the skewer penetrating device, separate processing is not needed, and then the cutting and penetrating processing efficiency of the squid tentacles is improved.

The invention relates to a bionic octopus tentacle robot dynamic grabbing method and system, and the method comprises the steps: constructing a bionic octopus tentacle multi-segment flexible joint kinematics model, and calculating the kinematics parameters of each joint of a bionic octopus tentacle in real time; acquiring multi-sensor data including vision, force sense and inertia, and estimating underwater environment disturbance factors; selecting an optimal grabbing strategy according to the features of the target object; according to the kinematics parameters of all the joints of the bionic octopus tentacles, the underwater environment disturbance factors and the optimal grabbing strategy, all the joint driving units of the bionic octopus tentacles are controlled through a bionic octopus tentacle control algorithm to achieve grabbing of the target object. The bionic octopus tentacle structure design and the bionic octopus tentacle control algorithm are fused, flexible self-adaptive grabbing in the underwater environment is achieved, and the problems that a traditional rigid mechanical arm is high in grabbing damage rate, slow in response and insufficient in adaptability in the complex underwater environment are solved.

This invention proposes an octopus-inspired wave-energy sea surface cleaning device, comprising a cleaning device body and an octopus tentacle-shaped moving mechanism. The octopus tentacle-shaped moving mechanism includes multiple robotic arms, multiple transmission beams, and a disc-shaped hollow motor. The disc-shaped hollow motor is fixed to the cleaning device body, and the multiple robotic arms are arranged at equal intervals around the disc-shaped hollow motor. The end of each robotic arm is connected to the rotor surface of the disc-shaped hollow motor through a transmission beam. The robotic arms are equipped with multiple joints, and a collision sensor is provided at the end of the robotic arm away from the transmission beam. When the robotic arms of this invention encounter obstacles, the movement direction and operating radius can be adjusted by bending the robotic arms, making it suitable for flexible operation in various narrow sea areas. At the same time, during the operation of the octopus tentacle-like robotic arms, the bent ends of the robotic arms can collect garbage within the turning radius of the device, thereby improving the garbage collection efficiency.

The application discloses a jellyfish-imitating structure floating fish reef and belongs to the technical field of artificial fish reefs. The jellyfish-imitating structure floating fish reef comprises a buoyancy cabin, a plurality of vertical suspension strip tentacles arranged at the bottom of the buoyancy cabin, and an anchoring assembly connected with the buoyancy cabin through a connecting cable group, a bearing ring fixedly connected below the buoyancy cabin, the strip tentacles being uniformly distributed below the bearing ring, a through hole being arranged on the bearing ring, a pair of arc-shaped moving plates being arranged on the buoyancy cabin, a wave-encountering plate being fixedly connected on each of the arc-shaped moving plates, a fixed plate being fixedly connected at the center of the top of the buoyancy cabin, and a squeezing ring being fixedly connected on each of the arc-shaped moving plates. The wave-encountering plate is pushed by the wave impact to drive the arc-shaped moving plate, the kinetic energy is released after the energy of the squeezing spring is stored, the squeezing ring is periodically pressed down, the water pressure flows into the through hole, and the strip tentacles are forced to high-frequency shake to simulate the movement mode of the jellyfish when the jellyfish escapes from the natural enemy, and the dynamic collection effect on the fish is obviously improved.

The invention discloses a control method, device and system for a cooking mechanical arm simulating an octopus tentacle. The method comprises the steps that visual information sent by a sub-controller of the tentacle is received; the visual information comprises target food material information and cooking environment information; determining a cooking action sequence of the cooking mechanical arm based on the visual information; the cooking action sequence comprises at least one cooking action of at least one cooking stage; splitting the cooking action sequence into a plurality of sub-task packets; each subtask package comprises task information; sending the plurality of sub-task packets to sub-controllers of a plurality of tentacles; receiving competition information sent by the sub-controller; the competition information is determined by the sub-controller based on the task information and the current state information; and distributing a plurality of sub-task packets based on the competition information corresponding to the plurality of tentacles. According to the embodiment of the invention, the sub-controllers are arranged on the flexible octopus-like tentacles, so that a distributed system is formed, and flexible and continuous cooking operation is realized.

The application provides a bionic flexible seedling taking end effector, which comprises a supporting mechanism, a depth camera, a tentacle driving mechanism, a flexible tentacle, a pressure supply mechanism, a pull rope mechanism and a controller. The depth camera, the tentacle driving mechanism, the pull rope mechanism and the pressure supply mechanism are electrically connected with the controller. The depth camera sends the collected image to the controller. The controller judges the position of the seedling according to the image and analyzes and calculates the distribution and the curvature of the leaf. When the seedling taking end effector moves to the target position, the controller controls the tentacle driving mechanism to drive the flexible tentacle to rotate above the corresponding leaf, controls the pull rope mechanism to act to make the flexible tentacle lift, and controls the pressure supply mechanism to act to make the flexible tentacle adsorb and grasp the seedling. The seedling taking end effector learns the biological characteristics of octopus and adopts the flexible and flexible flexible tentacle to cooperate with the negative pressure to adsorb and extract the cabbage seedling, so that the transplanting operation is realized, the damage to the seedling is avoided, and the survival rate is provided.

The invention provides a bionic anti-fouling surface with a difibrillation characteristic, belongs to the technical field of bionic anti-fouling surfaces, and aims to further improve the anti-fouling effect of the anti-fouling surface and is inspired by the difibrillation characteristic of a leather coral tentacle. The bionic anti-fouling surface is composed of a substrate and a tentacle array on the substrate; the tentacle is in a circular truncated cone shape, the height ranges from 11 mm to 13 mm, the diameter of the bottom ranges from 2 mm to 3 mm, and the diameter of the top end ranges from 1 mm to 2 mm. The distance between the two ends is 2mm to 3mm; the base and the tentacles are made of elastic materials; the elastic modulus of the elastic material is 1.5 to 3.0 MPa; the tentacles on the antifouling surface swing regularly under the action of wave force, and meanwhile, the tips of the tentacles swing once along with waves, so that secondary revibration with higher frequency is formed. Compared with a bionic surface with the same structure of the tentacles with the length of 7cm and 10cm, the driving frequency of one-time swinging of the bionic surface is far higher than that of the tentacles of the same type, so that the fouling organisms are driven in a doubled manner, and the attachment of the fouling organisms is reduced.

The invention discloses a pre-harvest digging assisting system and method for rhizoma alismatis, and relates to the field of agricultural machinery automation, and the system comprises a visual positioning unit which is used for recognizing main roots of rhizoma alismatis based on an image recognition algorithm, and predicting the distribution area of underground whisker collaterals based on the growth characteristics of the main roots; the ultrasonic unit is used for emitting ultrasonic waves to the distribution area, and the ultrasonic waves are used for weakening tentacle toughness based on the cavitation effect; the path planning unit is used for planning a cutting path based on the distribution area; and the cutting unit is used for cutting the rhizoma alismatis tendrils based on the cutting path. Through cooperative operation of machine vision and ultrasonic waves, positioning and weakening treatment of underground whisker veins are achieved, traditional heavy digging operation completely depending on manual work and using a bent knife is replaced, manpower input is remarkably reduced, harvesting efficiency is improved, and a large amount of labor cost is saved for farmers.

1. Name of the designed product: toy (mobile tentacle floor - larva). 2. Use of the designed product: used as a toy. 3. Design points of the designed product: in the combination of shape and pattern. 4. Picture or photo that best indicates the design points: perspective view.

The invention relates to an automatic separation device and method for squid tentacles and carcasses. The method comprises the steps of directional feeding and automatic recognition, low-temperature freezing, cutting, separation and collection, high-pressure flushing and liquid nitrogen top-speed freezing. The device comprises a feeding conveyor and a screening mechanism. The screening mechanism comprises an obliquely-arranged outer frame, a plurality of pull ropes arranged at equal intervals are arranged between the upper side and the lower side of the outer frame, and the outer frame is driven by a first reciprocating driving assembly to reciprocate. The shearing assembly is arranged below the pull rope; according to the invention, a row of stay cords which obliquely extend downwards and are arranged at equal intervals are arranged, the body shape of a squid head is larger than the distance between two adjacent stay cords, and squid tentacles can pass through the two adjacent stay cords; under the action of gravity, the squids obliquely move downwards on the upper surfaces of the pull ropes, and in the process, the first reciprocating driving assembly drives the pull ropes to shake, so that squid tentacles shake to fall to the positions below the pull ropes, and squid heads are left above the pull ropes; and then the shearing assembly shears the squid tentacles below the pull rope to realize separation.

The present invention belongs to the technical field of capturing non-cooperative space targets, and particularly relates to a motion target coiling and capturing mechanism with touch feedback and a control method thereof. In view of the difficulties and challenges in capturing non-cooperative moving targets, based on bionics theory and inspired by the octopus form, the present invention proposes an octopus-inspired coiling and capturing mechanism composed of a rotating base, a palm plate, and mechanical coiling and capturing tentacles installed on the rotating base, which can achieve adaptive capture of moving targets with uncertain parameters and complex and diverse geometric shapes.

The present invention provides a magnetic soft robot that mimics a jellyfish. The robot comprises an outer membrane, an inner membrane, a porous base, an electromagnetic coil, an iron core, and biomimetic tentacles. The outer membrane and inner membrane are hemispherical, with their axes coinciding. The outer membrane, inner membrane, and biomimetic tentacles are made of a magnetorheological elastomer. The porous base is disc-shaped. The iron core is fixed to the center of the porous base. The electric coil is wound around the iron core, generating a magnetic field with a variable direction when energized. The shape of the magnetic variable elastomer changes with the direction of the magnetic field. The biomimetic tentacle is mounted on the lower surface of the porous base and assists the soft robot in moving according to the deformation of the magnetic variable elastomer. The outer membrane, inner membrane, and porous base form a cavity with a variable volume. The cavity expands or contracts in response to the deformation of the magnetic variable elastomer, mimicking the principle of a jellyfish's water absorption and drainage. The magnetic soft robot has a simple structure and a fast response speed.

The present invention discloses a mechanical device imitating an octopus, which includes a tentacle mechanism, a push rod mechanism, and a mantle shell mechanism. The tentacle mechanism is arranged on the side wall of the mantle shell mechanism, the push rod mechanism is arranged inside the mantle shell mechanism, the push rod mechanism is connected to the tentacle mechanism, and the telescopic movement of the push rod mechanism can drive the up and down movement of the tentacle structure. When the push rod mechanism drives the tentacle mechanism to move up and down, the up and down movement of the tentacle mechanism drives the mantle shell mechanism to squeeze water to form a forward thrust, so as to realize the forward movement of the overall mechanical device. The present invention can be used for ocean exploration. The device can also adsorb on the bottom of a ship through the suction cups, and a cleaning mechanism can be additionally installed to clean the marine adsorbents on the bottom of the ship.

The invention discloses an environment-friendly bionic jellyfish capable of degrading micro-plastic particles and a preparation method, and relates to the technical field of marine governance. The device comprises a head part, an outer-layer tentacle and an inner-layer tentacle, the head part is of an umbrella-shaped hollow structure, and the outer-layer tentacle and the inner-layer tentacle are communicated with the head part; according to the environment-friendly bionic jellyfish disclosed by the invention, through the prepared environment-friendly bionic jellyfish, the form of the environment-friendly bionic jellyfish and a natural gathering mechanism, plastic garbage in the ocean, especially micro-plastic which is difficult to capture in a traditional technology, can be efficiently collected; by preparing the nano net, the nano net material has high adsorbability and can widely capture plastic garbage with different particle sizes; degradable materials (such as cellulose of traditional Chinese medicine residues) are used, medical waste is recycled, the resource utilization rate is increased, secondary pollution to the marine environment is avoided, the production process of the degradable materials is environmentally friendly, the overall carbon footprint is reduced, and physical damage and ecological interference to marine organisms are reduced through bionic design.

A squid lure having a body, the body comprising a rigid head and one or more flexible tentacles attached to the head; the head having a ventral side and a dorsal side with a tow point attached to the ventral side and a hook adapter attached to the dorsal side; the head having a weight located in the dorsal portion; wherein the head and the tentacles are shaped so that, when the lure is pulled through water, the body vibrates. The head and tentacles may be integrally formed.

The invention discloses a bionic jellyfish type middle-layer water area garbage collection mechanism and a robot thereof. The bionic jellyfish type middle-layer water area garbage collection mechanism comprises an umbrella body with an opening, a plurality of soft tentacles hinged to the end edge, away from the opening, of the umbrella body, a collector communicated with the opening and a driving part connected with the umbrella body. The driving piece is used for driving the soft tentacle to periodically expand or contract around the umbrella part body, so that water flow and garbage in the middle-layer water area are guided to converge from the opening and flow into the collector, and the umbrella part body is pushed to advance towards a preset track. The soft tentacles can achieve periodic expansion and contraction movement, the eddy current effect is generated during expansion, suspended garbage is guided in, and the pushing force generated by extruding the containing cavity is utilized during contraction, so that autonomous advancing is achieved; according to the invention, while the garbage collection efficiency is improved, the interference on the habitat of aquatic organisms is also obviously reduced, the problems of aquatic plant winding and fish disturbance are avoided, and the dual targets of water area cleaning and ecological protection are realized.

The invention discloses a control method and system of a starfish injection robot, and relates to the technical field of underwater robots. According to the method, in the underwater cruising process of the starfish injection robot, real-time video streams of left and right eyes are obtained; performing attitude leveling on the robot by adopting a fuzzy control algorithm; according to the left-objective real-time video stream, using the trained starfish recognition YOLO model to output bounding box coordinates of starfishes when the starfishes are recognized; extracting a tentacle junction point in the bounding box coordinate of the starfish as an injection target point; binocular vision three-dimensional coordinate reconstruction is carried out, and bounding box coordinates and injection target point coordinates of starfishes under a robot body coordinate system are obtained; the starfish injection robot is controlled to move to the position above starfishes, a target positioning system based on the Ultimaker configuration is used for driving a connecting rod sliding block injection mechanism to move to an injection target point, and an injection needle is driven to execute liquid medicine injection on the starfishes. According to the invention, accurate, efficient and automatic expelling of the spinous crown starfish can be realized.