Legged Amphibious Robot Visual Control Maneuverability
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Solution Overview
Problem
Underwater robotics faces challenges due to environmental factors like strong currents, reduced effectiveness of infrared sensors, and difficulties in wireless communication, making maneuverability and energy efficiency issues, as well as impaired vision due to turbidity and light behavior changes, which complicate object tracking.
Innovation Solution
A robotic device with a legged propulsion system and a control system that includes visual sensors for image analysis, motion calculation, and actuation to achieve desired motion in both liquid and solid mediums, allowing for propulsive forces and adaptive thrust management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If propellers or thrusters are used to propel undersea vehicles, then the design is simple, but the maneuverability and agility are insufficient
Solution Approach 1:
The propulsion system is divided into multiple independent leg units, each capable of independent actuation. This segmentation allows the vehicle to achieve complex maneuvers by coordinating different leg movements, providing fish-like agility while maintaining a relatively simple modular design for each individual leg component.
Solution Approach 2:
The legged propulsion system employs dynamic, adjustable leg configurations that can adapt their motion patterns based on environmental conditions and maneuvering requirements. This dynamic capability enables the vehicle to transition between different propulsion modes and achieve superior maneuverability compared to fixed propeller designs.
2Ease of manufacture
If thrusters are used for propulsion, then the design is simple, but energy efficiency for station keeping is poor
Solution Approach 1:
The legged propulsion system utilizes periodic oscillating leg movements to generate propulsive forces. This periodic action allows for energy-efficient station keeping by rhythmically adjusting leg positions to counteract currents and maintain position, rather than requiring continuous high-energy thruster operation.
Solution Approach 2:
The distributed legged propulsion system enables the vehicle to self-adjust and self-stabilize through coordinated leg movements. Each leg can independently contribute to propulsion and stabilization, allowing the vehicle to maintain position efficiently without requiring external control intervention or excessive energy input from centralized thrusters.
3Measurement precision
If visual tracking methods are used in dry environment, then tracking accuracy is good, but the methods fail underwater due to turbidity and light behavior changes
Solution Approach 1:
The patent replaces optical-based visual tracking methods with acoustic-based tracking methods for underwater operation. Acoustic signals are less affected by water turbidity and light absorption, enabling accurate target tracking in underwater environments where optical methods fail.
Solution Approach 2:
The tracking system changes its operating parameters by switching from optical frequency ranges to acoustic frequency ranges when transitioning from air to water. This parameter change allows the tracking system to adapt to the different propagation characteristics of the medium and maintain tracking accuracy underwater.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device achieves improved maneuverability and energy efficiency in liquid mediums and effective navigation on both solid and liquid surfaces, with enhanced object tracking capabilities through visual control systems, overcoming the challenges of underwater environments.
Implementation Method 1
interaction between the legs and the liquid medium produces propulsive forces that displace the robotic device within the liquid medium
Implementation Method 2
at least one visual sensor retrieving an image of an environment of the device in the liquid medium
Data Source
AI summary
A control system for a robotic device maneuverable in at least a liquid medium, the system having at least one visual sensor retrieving an image of the device's environment, an image analyzing module receiving the image, determining a presence of an object of a given type therein and analyzing at least one property of the object, a motion calculator determining a desired motion of the device based on the property, and a controller operating a propulsion system of the device to obtain the desired motion. Also, a legged robotic device having a control system including at least one sensor providing data about an environment of the device, the control system using sensor data to determine a desired motion of the device, determining a corresponding required leg motion of each of the legs to produce the desired motion and actuating the legs in accordance with the corresponding required leg motion.