CN107097238A - The underwater operation robot and its control method of a kind of migration mixing - Google Patents
The underwater operation robot and its control method of a kind of migration mixing Download PDFInfo
- Publication number
- CN107097238A CN107097238A CN201710199939.9A CN201710199939A CN107097238A CN 107097238 A CN107097238 A CN 107097238A CN 201710199939 A CN201710199939 A CN 201710199939A CN 107097238 A CN107097238 A CN 107097238A
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- Prior art keywords
- underwater operation
- robot
- operation robot
- underwater
- migration
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The present invention proposes the underwater operation robot and its control method of a kind of migration mixing, including framework, floating body module, suspension bracket, control sealed compartment, moving parts, sensor measuring component, vision positioning device and operation expansion module；Floating body module, suspension bracket, control sealed compartment, moving parts, sensor measuring component, vision positioning device and operation expansion module are installed on framework, and the center of gravity of underwater operation robot is located at immediately below centre of buoyancy.Underwater operation robot proposed by the present invention can adapt to the job requirements of different classes of, different posture working faces, and can adapt to motor-driven and obstacle climbing ability the demand of the omnidirectional on different operating face, locomotor activity of the underwater operation robot in the scope of operation is improved, more application scenario demands are enabled adaptation to.
Description
Technical field
The present invention relates to underwater robot technical field, the underwater operation robot of specially a kind of migration mixing and its control
Method processed.
Background technology
With ocean power of China implementation, marine economy and ocean military affairs are all proposed to underwater operation robot
Urgent requirement.In terms of marine economy, China is just in Efforts To Develop aquaculture, seabed resources exploitation, submarine facility construction
Deng activity, while China is the big country of a sea transport and building of irrigation works, substantial amounts of ship needs periodic cleaning or entered
Row security performance is checked, it is also desirable to periodically carry out security performance detection to water resources dam；In terms of marine safety, China is not
The disconnected lifting early warning at harbour under water, thunder, the under water ability such as explosive are hunted under water, while with China's aircraft carrier, capital ship, submarine
Constantly it is on active service, is required for underwater robot to complete cleaning and safety detection.Mode of these tasks according to Traditional Man operation
Carry out, not only risk is big, and operating cost is high, therefore underwater operation robot arises at the historic moment.
At present, common underwater operation robot is the Work robot of purely travelling type, and this robot is in operation
Because the state of itself is in quick condition, submarine site fixed performance is poor, easily by ocean current and itself action reaction force shadow
Ring and drift about.Therefore, this kind of operation underwater robot is in operation, it usually needs more than two manipulators coordinate ability
Fulfil assignment, one of manipulator is used for the fixation of robot location, another manipulator is used to operative goals is implemented to make
Industry, this adds increased task difficulty.
In recent years, the underwater operation machine of a small amount of migration mixing based on crawler type or Universal wheel type is occurred in that both at home and abroad
Operative goals is found by moving about on a large scale by people, this kind of robot, searches out after target, by the walking in the scope of operation come
Close to target.After being accurately positioned again by sound/light to operative goals, operation is implemented to operative goals by operation expansion module.This
Plant robot state of its own in operation and be in hold mode, it is good with position fixed performance, it is difficult by ocean current and itself
The defect that action reaction force influences and drifted about, reduces task difficulty.
But, due to different to underwater operation machine Man's Demands, cause the scope of operation of underwater operation robot there is also
And vary, existing flat working face as reservoir dam, ship side board etc., also have as seabed, bottom of ship etc. this
The working face of sample non-flat forms.This requires underwater operation robot not only to adapt to the work of different classes of, different posture working faces
Industry demand, and adapt to motor-driven and obstacle climbing ability the demand of the omnidirectional on different operating face, the current mixing of migration under water
Work robot can not meet such demand well.In addition, the Work robot of the existing mixing of migration under water is generally adopted
With the metal framework structure of cuboid, own wt is big, stable sea is poor.
The content of the invention
To solve the problem of prior art is present, the present invention propose a kind of migration mixing underwater operation robot and its
Control method, can adapt to underwater operation robot different classes of, the job requirements of different posture working faces, and can fit
Should be in the motor-driven demand with obstacle climbing ability of the omnidirectional on different operating face, to improve underwater operation robot in the scope of operation
Locomotor activity, enables adaptation to more application scenario demands.
The technical scheme is that：
A kind of underwater operation robot of the migration mixing, it is characterised in that：Including framework, floating body module, suspension bracket, control
Sealed compartment processed, moving parts, sensor measuring component, vision positioning device and operation expansion module；Floating body module, suspension bracket, control
Sealed compartment, moving parts, sensor measuring component, vision positioning device and operation expansion module are installed on framework, and water
The center of gravity of lower Work robot is located at immediately below centre of buoyancy；
The floating body module is used to provide buoyancy；
The suspension bracket is used for the lifting of underwater operation robot；
Non- water proof equipment needed for the control of underwater operation robot and information transfer is installed inside the control sealed compartment, and
External cabling mouthful is used as using underwater electrical connector；
The moving parts include travelling drive device and walking and drive device；
The travelling drive device includes being no less than four vertical pushers and no less than two horizontal propellers；Vertically push away
Entering device controlled can at least realize that sink-float, pitching and the rolling movement of the travelling process of underwater operation robot and offer are made under water
Industry robot adhesive force function needed for operation general work；Horizontal propeller controlled can at least realize underwater operation robot
The front and rear and yawing rotation of travelling process；
The walking controlled can realize that the front and rear and steering in the scope of operation of underwater operation robot is transported with drive device
It is dynamic；
The sensor measuring component can perceive the keel depth in underwater operation robot face off sea and the height at bottom off sea,
Underwater operation robot is perceived, and perception information is sent to underwater operation Robert controller；
The vision positioning device can under water Work robot operation when target is positioned；
The operation expansion module can realize underwater operation robot manipulating task task.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：The walking
It is divided into bionical knife edge leg walking and drive device and omni-directional wheel walking and drive device with drive device；When underwater operation robot
In the operation general work of non-flat forms, using the walking of bionical knife edge leg and drive device；When underwater operation robot is flat
Operation general work when, using omni-directional wheel walking and drive device.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：It is described bionical
Knife edge leg is walked includes the bionical knife edge leg installed in underwater operation robot both sides with drive device, and corresponding each bionical
The drive device of knife edge leg；The drive device can drive bionical knife edge leg around its one end axis of rotation；Underwater operation machine
The bionical knife edge leg number of people side is no less than three.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：It is described bionical
Knife edge leg is semicircle bionic leg, and outer contour surface is provided with raised rubber pad.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：The omnidirectional
Wheel walking includes the drive device of at least four omni-directional wheels and corresponding each omni-directional wheel with drive device；The omni-directional wheel is used
Mecanum wheels.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：The sensing
Probe assembly includes shooting and lighting device, forward sight image sonar, depth and very high integrity sensor and attitude transducer；Institute
State the keel depth in depth and very high integrity sensor senses underwater operation robot face off sea and the height at bottom off sea；It is described
The posture of attitude transducer sensing underwater operation robot；It is described shooting and lighting device by a dome type camera, one
Wide-angle camera, two underwater LED lamp compositions；Dome type camera is mounted in the dome camera branch of underwater operation robot front end
On frame, for operating environment under omnidirectional's observation water；Wide-angle camera is arranged on the wide-angle imaging head bracket of robot rear end, is used
Rear underwater operation environment is observed in orientation；Two illuminating lamps are separately mounted to described dome camera bracket or so, for water
Lower illumination；The forward sight image sonar is located at underwater operation robot front end.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：The framework
For polypropylene frame, including be made up of four pieces of crossbeams transverse beam assembly, two pieces of propeller bracket plates, two pieces of side plates, control sealings
Storehouse rear baffle, positioner supporting plate and multiple camera bracket plates.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：The floating body
Module uses hollow glass micropearl material, and with streamlined contour structure, is provided with framework upper, and floating body module
Lay the through hole of vertical pusher.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：The suspension bracket
It is made up of, is fixed on transverse beam assembly two panels steel frame construction, lower end encircles control sealed compartment, upper end is stretched out from floating body module.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：It is described travelling
Drive device is made up of four vertical pushers and two horizontal propellers；Four vertical pushers are respectively placed in floating body module four
In individual symmetrical round hole, and symmetrically it is fixed on by fixture on transverse beam assembly；Two horizontal propellers lead to respectively
Fixture is crossed to fix on the outside of two blocks of propeller bracket plates.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：The vision
Positioner uses binocular visual positioning device.
Further preferred scheme, a kind of underwater operation robot of migration mixing, it is characterised in that：It is described bionical
Knife edge leg is walked includes six bionical knife edge legs and its respective drive motor with drive device；Three are installed on the side side plate of framework
Individual bionical knife edge leg, correspondence motor is arranged in the crossbar bracket of side plate interior sides.
A kind of control method of the underwater operation robot of the migration mixing, it is characterised in that：Work machine under water
When people is in travelling state, the rotating speed and steering for controlling four vertical pushers realize underwater operation robot sink-float, pitching and
Rolling movement, the rotating speed and steering that control two horizontal propellers realize the front and rear and yawing rotation of underwater operation robot；
When underwater operation robot is in walking states, according to the direction of the scope of operation, four vertical pushers of control provide underwater operation
Robot adhesive force needed for operation general work, and realize underwater operation robot in the scope of operation by walking and drive device
Upper front and rear and divertical motion.
A kind of control method of the underwater operation robot of the migration mixing, it is characterised in that：Work machine under water
When people is in travelling state, closed-loop control is carried out according to depth and the gathered data of very high integrity sensor, controls four to hang down
The rotating speed of straight propeller and steering, make underwater operation robot be navigated according to the face depth off sea of setting or from sea floor height
OK.
A kind of control method of the underwater operation robot of the migration mixing, it is characterised in that：Work machine under water
When people is in travelling state, closed-loop control is carried out according to course attitude transducer, the rotating speed of four vertical pushers is controlled and turns
To making underwater operation robot with the required angle of pitch and/or rolling angular movement, control the rotating speed of two horizontal propellers and turn
To making underwater operation robot with required course angular movement.
A kind of control method of the underwater operation robot of the migration mixing, it is characterised in that：When underwater operation machine
People is in the operation general work of non-flat forms, according to the direction of the scope of operation, and four vertical pushers of control provide underwater operation machine
Device people adhesive force needed for operation general work, bionical knife edge leg walking uses triped gait mode with drive device, with triangle
The form of shape supporting structure is alternately walked.
A kind of control method of the underwater operation robot of the migration mixing, it is characterised in that：When underwater operation machine
People is in flat operation general work, according to the direction of the scope of operation, and four vertical pushers of control provide underwater operation machine
People's adhesive force needed for operation general work, control respectively omni-directional wheel walking and the rotating speed of each omni-directional wheel in drive device and turn
To omnidirectional in the flat scope of operation of control underwater operation robot walks.
Beneficial effect
Beneficial effects of the present invention mainly have four aspects：
First, will move about under water humanoid robot and under water running type robot the characteristics of fully merged, make it have
The large-scale operational capabilities in marine site, the locomotor activity with small range in the scope of operation under water.
Secondly, the migration mixed type underwater operation robot makes water by the steering and rotating speed of four vertical pushers of control
Lower robot is close on underwater operation face, while start corresponding walking carries out operation with drive device, compared to traditional
The underwater operation robot of pure travelling type has submarine site fixed performance good in the scope of operation during operation, be difficult by ocean current and oneself
The defect that body action reaction force influences and drifted about, reduces the task difficulty of underwater operation robot.
Third, the migration mixed type underwater operation robot is designed using polypropylene general frame, flat structure, compared to
Traditional underwater robot, effectively alleviates weight, improves decay resistance, and add robot navigation stability.
Fourth, the migration mixed type underwater operation robot for adopting respectively in the scope of operation of different classes of, different postures
With bionical knife edge leg running gear or omni-directional wheel running gear, to improve walking energy of the underwater operation robot in the scope of operation
Power, enables adaptation to more application scenario demands.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1：The structural representation of the migration mixed type underwater operation robot of the embodiment of the present invention one.
Fig. 2：The migration mixed type underwater operation robot of the embodiment of the present invention one removes the structural representation of floating body module.
Fig. 3：The migration mixed type underwater operation robot polycrystalline substance schematic diagram of the embodiment of the present invention one.
Fig. 4：The migration mixed type underwater operation robot 1 group of structural representation of knife edge leg of the embodiment of the present invention one.
Fig. 5：The migration mixed type underwater operation robot 2 groups of structural representations of knife edge leg of the embodiment of the present invention one.
Fig. 6：The migration mixed type underwater operation robot turning gait schematic diagram of the embodiment of the present invention one.
Fig. 7：The structural representation of the migration mixed type underwater operation robot of the embodiment of the present invention two.
Fig. 8：The migration mixed type underwater operation robot polycrystalline substance schematic diagram of the embodiment of the present invention two.
Fig. 9：The migration mixed type underwater operation robot omni-directional wheel running gear structural representation of the embodiment of the present invention two.
Figure 10：The expansion module cleaning equipment structural representation of two migration mixed type underwater operation robots of the embodiment of the present invention
Figure.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of
The description present invention and simplified description, rather than indicate or imply that the device or element of meaning must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Therefore, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
The walking and drive device according to be respectively adopted on different work face the walking of bionical knife edge leg and drive device or
The walking of person's omni-directional wheel and drive device：Underwater operation robot is in the operation general work of non-flat forms, such as case study on implementation one,
Walking is that bionical knife edge leg is walked and drive device with drive device；Underwater operation robot is in flat operation general work
When, such as case study on implementation two, walking is walking and drive device based on four omni-directional wheels with drive device.
Embodiment one：The underwater operation robot and its control method mixed using the migration of bionical knife edge leg
Referring to the drawings 1, a kind of underwater robot of migration mixing, it is characterised in that：Including polypropylene frame (1), floating body
Module (2), steel suspension bracket (3), shooting and lighting device, forward sight image sonar (5), depth and very high integrity sensor (6),
Control sealed compartment (7), travelling drive device (8), binocular visual positioning device (9), walking and drive device (10) and operation
Expansion module (11) etc. is constituted.
Referring to the drawings 2 and 3, the polypropylene frame (1) be polypropylene material, main body by four pieces of crossbeams (111,112,
113rd, 114), two pieces of propeller bracket plates (121,122), two pieces of side plates (131,132), control gas-tight silo rear baffle, positioning dresses
Put the part such as support (151) and camera bracket (153,154,155).Four pieces of crossbeams (111,112,113,114) pass through
Beneath three pieces of connecting plates (161,162,163) are fixedly connected using bolt or other modes；Two pieces of propeller brackets (121,
122) symmetrical use bolt or other modes are fixed on the second cross beam (112), on the 3rd crossbeam (113)；The control
Sealed compartment rear baffle processed is fixed on the 4th crossbeam (114) using bolt or other modes；Two blocks of side plates (131,132) are adopted
Four pieces of crossbeams (111,112,113,114) left and right sides is fixed on bolt or other modes.
Referring to the drawings 1, floating body module (2) material is hollow glass micropearl, and uses streamlined contour structure, can be with
The resistance moved under water is effectively reduced, its four symmetrical round holes lay four vertical pushers.
Referring to the drawings 1 and 2, the steel suspension bracket (3) is that two panels steel frame construction is constituted, and is fixed by bolts to second cross beam
(112), the 3rd crossbeam (113) above, cradles control sealed compartment (7), the lifting for underwater robot.
Referring to the drawings 1 and 2, the shooting and lighting device are by a dome type camera (41), a wide-angle camera
(42), two underwater LED lamp (43,44) compositions.The dome type camera (41) dome type in the middle of robot front end is taken the photograph
As on overhead consoles (153), the omnidirectional for the underwater operation environment of robot observes；One wide-angle camera (42) is arranged on
On robot rear end wide-angle imaging head bracket, the rear for the underwater operation environment of robot orients observation；Two LEDs
(43,44) are separately mounted to the dome camera left socle (154), on dome camera right support (155), under water according to
It is bright；The dome type shooting overhead consoles (153) are bolted right in dome camera left socle (154) and dome camera
On support (155)；The dome camera left socle (154) and dome camera right support (155) are poly- using being bolted to
On the first crossbeam (111) of propylene framework；The wide-angle imaging head bracket is fixed on the 4th crossbeam of polypropylene frame (1)
(114) on.
Referring to the drawings 1, the forward sight image sonar (5) be located at dome type camera (41) front end, using bolt or other
Mode is fixedly mounted on dome camera left socle (154) and dome camera right support (155), for robot under water
Avoidance.
Referring to the drawings 2, the depth and very high integrity sensor (6) are positioned at the centre of polypropylene frame (1), using spiral shell
Bolt or other modes are fixedly mounted on the 3rd crossbeam (113) of polypropylene frame, the navigation for underwater robot face off sea
Depth and the elevation carrection at bottom off sea.
Referring to the drawings 1 and 2, it is described control sealed compartment (7) be sealing structure, be fixed on four pieces of crossbeams (111,112,113,
114) and on control sealed compartment rear baffle, course attitude transducer, drive control module, fibre multiplexer etc. are installed in inside
Non- water proof equipment, its external cabling mouth is all underwater electrical connector, control and information transfer for underwater robot.
Referring to the drawings 2, the travelling drive device (8) is by four vertical pushers (81,82,83,84) and two levels
Propeller (85,86) is constituted.It is symmetrical that four vertical pushers (81,82,83,84) are located at floating body module (2) four respectively
In the round hole of distribution, second cross beam (112) is symmetrically fixed on by fixture, on the 3rd crossbeam (113), the fixture
It is fixedly connected with the second cross beam (112), the 3rd crossbeam (113) by bolt and nut or other modes；Two levels
Propeller (85,86) is located at polypropylene frame (1) both sides position rearward respectively, and two pieces of propellers are symmetrically fixed on by fixture
On supporting plate (121,122), the fixture passes through bolt and nut or other modes with the propeller bracket plate (121,122)
It is fixedly connected.
Referring to the drawings 1, the binocular visual positioning device (9) is located on the left of polypropylene frame (1) front end, passes through and positions dress
Put supporting plate (151) to be fixed on first crossbeam (111) using bolt or other modes, to target during for robot manipulating task
It is accurately positioned.
Referring to the drawings 2, four vertical pushers (81,82,83,84) of travelling drive device all do in the same direction and synchronized rotation
When, this four vertical pusher (81,82,83,84) will produce the power of four identicals up or down, make underwater operation machine
People is along plunging motion above and below z-axis；When the propeller of front end two (81,82) in four vertical pushers (81,82,83,84) and
The propeller of rear end two (83,84) will produce pitching moment, make underwater operation robot around y when rotating speed is different with steering
Axle does elevating movement；When two propellers of right-hand member (82,83) and left end two in four vertical pushers (81,82,83,84)
Propeller (81,84) will produce rolling moment, make underwater robot around x-axis roll motion in rotating speed or different steering；When
When underwater robot carries out closed-loop control using depth and very high integrity sensor, by turn for controlling four vertical pushers
Speed and steering, make underwater robot be navigated by water according to the face depth off sea of setting or from sea floor height；When underwater robot is adopted
When carrying out closed-loop control with attitude transducer, rotating speed and steering by four vertical pushers of control, so that it may so as to make under water
Industry robot is with (0~± 180 °) motions of the arbitrary angle of pitch (0~± 90 °) or roll angle.
Referring to the drawings 2, when two horizontal propellers (85,86) all do in the same direction and synchronized rotation, will produce two it is identical
Power forward or backward, underwater operation Robot x-axis is done anterior-posterior translation motion；When two horizontal propellers (85,86)
When rotating speed is different with steering, yawing will be produced, underwater operation Robot z-axis is done yawing rotation；Make when under water
When industry robot is controlled using course transmitter, rotating speed and steering by two horizontal propellers of control, so that it may so that
Underwater operation robot is with (0~± 180 °) motions of arbitrary course angle.
Referring to the drawings 2, steering and rotating speed by six propellers (81,82,83,84,85,86) of control, so that it may so that
Underwater operation robot reaches the scope of operation.After underwater operation robot is reached in the scope of operation, according to the direction of the scope of operation, control four
The steering of individual vertical pusher (81,82,83,84) and rotating speed make underwater operation robot be close in the scope of operation.
Referring to the drawings 3, underwater operation robot is needed in non-flat forms operation general work, the underwater operation of migration mixing
Robot uses bionical knife edge leg running gear.Six knife edge legs (1011,1012,1013,1014,1015,1016) are by six
Motor (1021,1022,1023,1024,1025,1026) is individually controlled, and can make underwater operation robot in the scope of operation
The avoidance actions such as upper completion walking, running, climbing.Bionical knife edge leg material is anodised aluminium, is semicircle bionic leg, foreign steamer
Wide surface is provided with hexagonal convex shape rubber blanket, is increased with this and frictional force in the scope of operation.
Referring to the drawings 2 and 3, described knife edge leg running gear, on two pieces of side polypropylene boards, described driving
Motor (1021,1022,1023,1024,1025,1026) is located at the body interior between two pieces of side plates (131,132).The migration is mixed
The walking mechanism of six legs of underwater operation robot of conjunction, referring to the drawings 4, respectively foreleg 1 (1011), foreleg 4 (1014), in
Leg 2 (1012), middle leg 5 (1015) and back leg 3 (1013), back leg 6 (1016).The mechanical structure of six legs is identical, uniformly
It is respectively in the both sides of machine human organism.Three pairs of legs are divided into two groups, foreleg 1 (1011), back leg 3 (1013) and the right side of left side of body
Middle leg 5 (1015) is one group, and foreleg 4 (1014), back leg 6 (1016) and the middle leg 2 (1012) in left side on right side are two groups, respectively
Constitute two triangular supports.Referring to the drawings 5, when all legs lift in one group of triangular supports simultaneously, the leg of two groups of triangles
It is as you were, support body and using middle leg as fulcrum, then two groups of all legs lift simultaneously, and one group of all leg is withdrawn downwards, will
Robot is pushed away forward, while center of gravity falls on three legs of one group of triangular supports, realizes the effect of anterior displacement.Then two are repeated
Action between group, mutual rotation reaches walking effect, and because center of gravity always inside triangular supports, can stop transporting at any time
It is dynamic.
Referring to the drawings 6, one group of leg is turning stage a as during supporting leg during Six-foot walking robot is turned.The rank
One group of leg of section is turned as supporting leg support Six-foot walking robot, and angle of turn is A1, and this process machine human organism puts down
Shifting track is B1B2, and the anglec of rotation is A1；Meanwhile, two groups of legs lift, and are to be prepared during next step is turned as supporting leg, when two
Group leg falls foot point forward direction steplength when falling is larger.Turned when two groups of legs of Six-foot walking robot are as supporting leg stage b.
Two groups of legs of this stage are turned as supporting leg support Six-foot walking robot, and angle of turn is A2, robot during this
Body translation track is B3B4, and the anglec of rotation is A2；Meanwhile, one group of leg lifts, and is valid as supporting leg during next step is turned
Standby, the forward direction steplength that foot point is fallen when one group of leg falls is smaller.Six-foot walking robot constantly circulates progress a, and b processes are just
Six-foot walking robot can be completed and determine semidiameter turn.
Referring to the drawings 1, the operation expansion module can assemble distinct device according to different work task, such as can be
Mechanical arm (11) is installed on the front end cross beam of polypropylene frame.
Embodiment two：The underwater operation robot and its control method mixed using the migration of omni-directional wheel
Referring to the drawings 1, a kind of underwater robot of migration mixing, it is characterised in that：Including polypropylene frame (1), floating body
Module (2), steel suspension bracket (3), shooting and lighting device, forward sight image sonar (5), depth and very high integrity sensor (6),
Control sealed compartment (7), travelling drive device (8), binocular visual positioning device (9), walking and drive device (10) and operation
Expansion module (12) etc. is constituted.Referring to the drawings 8, except polypropylene frame side plate (133,134), walking with drive device (10) and
Other parts are identical with embodiment one beyond operation expansion module (12).
The polypropylene frame (1) is polypropylene material, and main body is pushed away by four pieces of crossbeams (111,112,113,114), two pieces
Enter device supporting plate (121,122), two pieces of side plates (133,134), control gas-tight silo rear baffle, positioner support (151) and take the photograph
As parts such as head brackets (153,154,155).Four pieces of crossbeams (111,112,113,114) pass through beneath three pieces of connecting plates
(161,162,163) connected using bolt or other modes；The symmetrical use spiral shell of two pieces of propeller brackets (121,122)
Bolt or other modes are fixed on the second cross beam (112), on the 3rd crossbeam (113)；The control sealed compartment rear baffle is used
Bolt or other modes are fixed on the 4th crossbeam (114)；Two blocks of side plates (133,134) are solid using bolt or other modes
It is scheduled on four pieces of crossbeams (111,112,113,114) left and right sides.
Referring to the drawings 1, floating body module (2) material is hollow glass micropearl, and uses streamlined contour structure, can be with
The resistance moved under water is effectively reduced, its four symmetrical round holes lay four vertical pushers.
Referring to the drawings 1 and 2, the steel suspension bracket (3) is that two panels steel frame construction is constituted, and is fixed by bolts to second cross beam
(112), the 3rd crossbeam (113) above, cradles control sealed compartment (7), the lifting for underwater robot.
Referring to the drawings 1 and 2, the shooting and lighting device are by a dome type camera (41), a wide-angle camera
(42), two underwater LED lamp (43,44) compositions.The dome type camera (41) dome type in the middle of robot front end is taken the photograph
As on overhead consoles (153), the omnidirectional for the underwater operation environment of robot observes；One wide-angle camera (42) is arranged on
On robot rear end wide-angle imaging head bracket, the rear for the underwater operation environment of robot orients observation；Two LEDs
(43,44) are separately mounted to the dome camera left socle (154), on dome camera right support (155), under water according to
It is bright；The dome type shooting overhead consoles (153) are bolted right in dome camera left socle (154) and dome camera
On support (155)；The dome camera left socle (154) and dome camera right support (155) are poly- using being bolted to
On the first crossbeam (111) of propylene framework；The wide-angle imaging head bracket is fixed on the 4th crossbeam of polypropylene frame (1)
(114) on.
Referring to the drawings 1, the forward sight image sonar (5) be located at dome type camera (41) front end, using bolt or other
Mode is arranged on dome camera left socle (154) and dome camera right support (155), for keeping away under water for robot
Barrier.
Referring to the drawings 2, the depth and very high integrity sensor (6) are positioned at the centre of polypropylene frame (1), using spiral shell
Bolt or other modes are fixedly mounted on the 3rd crossbeam (113) of polypropylene frame, the navigation for underwater robot face off sea
Depth and the elevation carrection at bottom off sea.
Referring to the drawings 1 and 2, it is described control sealed compartment (7) be sealing structure, be fixed on four pieces of crossbeams (111,112,113,
114) and on control sealed compartment rear baffle, course attitude transducer, drive control module, fibre multiplexer etc. are installed in inside
Non- water proof equipment, its external cabling mouth is all underwater electrical connector, control and information transfer for underwater robot.
Referring to the drawings 2, the travelling drive device (8) is by four vertical pushers (81,82,83,84) and two levels
Propeller (85,86) is constituted.It is symmetrical that four vertical pushers (81,82,83,84) are located at floating body module (2) four respectively
In the round hole of distribution, second cross beam (112) is symmetrically fixed on by fixture, on the 3rd crossbeam (113), the fixture
It is fixedly connected with the second cross beam (112), the 3rd crossbeam (113) by bolt and nut or other modes；Two levels
Propeller (85,86) is located at polypropylene frame (1) both sides position rearward respectively, and two pieces of propellers are symmetrically fixed on by fixture
On supporting plate (121,122), the fixture passes through bolt and nut or other modes with the propeller bracket plate (121,122)
It is fixedly connected.
Referring to the drawings 1, the binocular visual positioning device (9) is located on the left of polypropylene frame (1) front end, passes through and positions dress
Put supporting plate (151) to be fixed on first crossbeam (111) using bolt or other modes, to target during for robot manipulating task
It is accurately positioned.
Referring to the drawings 2, four vertical pushers (81,82,83,84) of travelling drive device all do in the same direction and synchronized rotation
When, this four vertical pusher (81,82,83,84) will produce the power of four identicals up or down, make underwater operation machine
People is along plunging motion above and below z-axis；When the propeller of front end two (81,82) in four vertical pushers (81,82,83,84) and
The propeller of rear end two (83,84) will produce pitching moment, underwater operation robot is bowed around y-axis in rotating speed and steering
Face upward motion；When two propellers of two propellers of right-hand member (82,83) and left end in four vertical pushers (81,82,83,84)
(81,84) will produce rolling moment, make underwater robot around x-axis roll motion in rotating speed or different steering；When machine under water
When device people carries out closed-loop control using depth and very high integrity sensor, by controlling the rotating speed of four vertical pushers and turning
To making underwater robot be navigated by water according to the face depth off sea of setting or from sea floor height；When underwater robot uses posture
When sensor carries out closed-loop control, rotating speed and steering by four vertical pushers of control, so that it may so that underwater operation machine
People is with (0~± 180 °) motions of the arbitrary angle of pitch (0~± 90 °) or roll angle.
Referring to the drawings 2, when two horizontal propellers (85,86) all do in the same direction and synchronized rotation, will produce two it is identical
Power forward or backward, underwater operation Robot x-axis is done anterior-posterior translation motion；When two horizontal propellers (85,86)
When rotating speed is different with steering, yawing will be produced, underwater operation Robot z-axis is done yawing rotation；Make when under water
When industry robot is controlled using course transmitter, rotating speed and steering by two horizontal propellers of control, so that it may so that
Underwater operation robot is with (0~± 180 °) motions of arbitrary course angle.
Referring to the drawings 2, steering and rotating speed by six propellers (81,82,83,84,85,86) of control, so that it may so that
Underwater operation robot reaches the scope of operation.After underwater operation robot is reached in the scope of operation, according to the direction of the scope of operation, control four
The steering of individual vertical pusher (81,82,83,84) and rotating speed make underwater operation robot be close in the scope of operation.
Referring to the drawings 8, underwater operation robot is needed in flat operation general work, the underwater operation machine of migration mixing
Device people uses omni-directional wheel running gear.Omni-directional wheel running gear uses Mecanum wheels, and this omni-directional wheel is different from common wheel,
It is made up of wheel hub, driven pulley, connecting shaft and nut, appearance appears as helical gear.Driven pulley (the cydariform roller that can be rotated)
Clamped, be secured firmly on wheel hub without coming off by connecting shaft and nut.This special construction causes wheel body to have three certainly
By spending：Rotation around hub spindle, translation and the rotation around driven pulley and ground contact points along driven pulley axis vertical line direction.Institute
Stating on omni-directional wheel has six through holes, is designed to reduce wheel weight.It is pin-and-hole in the middle of the omni-directional wheel, connects with motor
Connect.The rotation of wheel body is driven by motor, and driven pulley is then passive rotation in the presence of frictional ground force.Also, install
In left and right, the rotation direction of the driven pulley of corresponding two omni-directional wheels needs opposite.
Referring to the drawings 9, omni-directional wheel running gear is by four omni-directional wheels (1031,1032,1033,1034), the driving of matching
Motor (1041,1042,1043,1044) and omnidirectional's wheel support (1051,1052,1053,1054) composition.Four omni-directional wheels
(1031,1032,1033,1034) are respectively placed in the corner of lower floor of robot, are fixed on side plate (133,134) and omnidirectional's wheel support
On (1051,1052,1053,1054).Four motors (1041,1042,1043,1044) are fixed on entirely by fixture
To on wheel support (1051,1052,1053,1054), and assembled respectively with omni-directional wheel (1031,1032,1033,1034).Not
In the case of needing steering mechanism, the only rotation direction by wheel and the cooperation of rotating speed, it becomes possible to realize plane two degree-of-freedom motion, and
It is zero that the radius of gyration, which can be accomplished,.There is higher flexibility than common train, adapt to move in more narrow space, can be tight
It is attached to any vertical and inclined hull or body surface is operated.
Referring to the drawings 7 and 8, if robot wheel 1 (1031), 2 (1031) of wheel, 3 (1033) of wheel, 4 (1044) of wheel are with mutually synchronized
Rate is rotated forward, then can realize and be gone ahead along x-axis positive direction；If robot wheel 1 (1031), 2 (1032) of wheel, 3 (1033) of wheel, wheel
4 (1044) are inverted with phase same rate, then can realize along x-axis and move backward；When being moved in front and rear (longitudinal direction), left and right directions is (horizontal
To) displacement remain zero.
Referring to the drawings 7 and 8, if wheel 1 (1031) and wheel 4 (1044) with phase same rate rotate forward, wheel 2 (1031) and take turns 3
(1033) inverted with phase same rate, then can realize that vertical fuselage is moved to the right (along y-axis positive direction)；If taking turns 2 (1031) and wheel 3
(1033) with phase same rate rotate forward, wheel 1 (1031) and wheel 4 (1044) with phase same rate reversion, then can realize vertical fuselage to
Left (along y-axis negative direction) motion, therefore the robot can realize transverse movement in the case where not turning to, this be with it is general
The difference of logical carriage.
Referring to the drawings 7 and 8, if wheel 1 (1031) and wheel 3 (1033) with phase same rate rotate forward, wheel 2 (1031) and take turns 4
(1044) inverted with phase same rate, then can realize and be turned clockwise around z-axis in situ；If take turns 1 (1031) and take turns 3 (1033) with
Phase same rate is inverted, and 2 (1031) of wheel and 4 (1044) of wheel are rotated forward with phase same rate, then can realize and be revolved counterclockwise around z-axis in situ
Turn, robot completes gyration well.
Referring to the drawings 7 and 8, robot oblique movement species is more, and a portion motion conditions are only discussed herein.If wheel
2 (1031) and wheel 3 (1033) with phase same rate rotate forward, wheel 1 (1031) and take turns 4 (1044) speed be zero, then robot along with
Front is in 45 ° of direction (x, the angular bisector direction of y-axis positive direction) motions；If taking turns 1 (1031) with 4 (1044) of wheel with mutually synchronized
Rate is rotated forward, and 2 (1031) of wheel and 3 (1033) speed of wheel are zero, then robot is in -45 ° of direction (x-axis positive directions along with front
With the angular bisector direction of y-axis negative direction) motion；If taking turns 2 (1031) and 3 (1033) of wheel being inverted with phase same rate, 1 (1031) are taken turns
Be zero with 4 (1044) speed of wheel, then robot along with front in -135 ° of directions (x, y-axis negative direction angular bisector side
To) motion；If taking turns 1 (1031) and 4 (1044) of wheel being inverted with phase same rate, 2 (1031) of wheel and 3 (1033) speed of wheel are zero, then
Robot is moved along with front in 135 ° of directions (the angular bisector direction of x-axis negative direction and y-axis positive direction).
Referring to the drawings 8, the operation expansion module can assemble distinct device according to different work task, such as can be
The bottom side plate (133,134) of polypropylene frame installs cleaning equipment.
Referring to the drawings 10, described cleaning equipment is by cleaning support (1201), steel hairbrush (1202), shaft coupling
(1203), motor (1204) is constituted.Cleaning motor (1204) is fixed on cleaning support (1201) with fixture.Cleaning equipment
One end be arranged on side plate (133) on, opposite side is fixed by bolts on side plate (134) by cleaning support (1201).
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.
Claims (17)
1. a kind of underwater operation robot of migration mixing, it is characterised in that：Including framework, floating body module, suspension bracket, control sealing
Cabin, moving parts, sensor measuring component, vision positioning device and operation expansion module；Floating body module, suspension bracket, control sealed compartment,
Moving parts, sensor measuring component, vision positioning device and operation expansion module are installed on framework, and underwater operation machine
The center of gravity of device people is located at immediately below centre of buoyancy；
The floating body module is used to provide buoyancy；
The suspension bracket is used for the lifting of underwater operation robot；
Non- water proof equipment needed for the control of underwater operation robot and information transfer is installed inside the control sealed compartment, and used
Underwater electrical connector is used as external cabling mouthful；
The moving parts include travelling drive device and walking and drive device；
The travelling drive device includes being no less than four vertical pushers and no less than two horizontal propellers；Vertical pusher
It controlled can at least realize sink-float, pitching and the rolling movement of the travelling process of underwater operation robot and underwater operation machine is provided
Device people adhesive force function needed for operation general work；Horizontal propeller controlled can at least realize that underwater operation robot moves about
The front and rear and yawing rotation of process；
The walking controlled can realize underwater operation robot front and rear and divertical motion in the scope of operation with drive device；
The sensor measuring component can perceive the keel depth in underwater operation robot face off sea and the height at bottom off sea, perceive
Underwater operation robot, and perception information is sent to underwater operation Robert controller；
The vision positioning device can under water Work robot operation when target is positioned；
The operation expansion module can realize underwater operation robot manipulating task task.
2. the underwater operation robot that a kind of migration is mixed according to claim 1, it is characterised in that：The walking and driving
Device is divided into bionical knife edge leg walking and drive device and omni-directional wheel walking and drive device；When underwater operation robot is non-flat
During smooth operation general work, using the walking of bionical knife edge leg and drive device；When underwater operation robot is in flat operation
During general work, using omni-directional wheel walking and drive device.
3. the underwater operation robot that a kind of migration is mixed according to claim 2, it is characterised in that：The bionical knife edge leg
Walking includes the bionical knife edge leg installed in underwater operation robot both sides, and each bionical knife edge leg of correspondence with drive device
Drive device；The drive device can drive bionical knife edge leg around its one end axis of rotation；Underwater operation robot side
Bionical knife edge leg number be no less than three.
4. the underwater operation robot that a kind of migration is mixed according to claim 3, it is characterised in that：The bionical knife edge leg
For semicircle bionic leg, outer contour surface is provided with raised rubber pad.
5. the underwater operation robot that a kind of migration is mixed according to claim 2, it is characterised in that：The omni-directional wheel walking
Include the drive device of at least four omni-directional wheels and corresponding each omni-directional wheel with drive device；The omni-directional wheel uses Mai Kana
Nurse wheel.
6. the underwater operation robot that a kind of migration is mixed according to claim 1, it is characterised in that：The sensor measuring group
Part includes shooting and lighting device, forward sight image sonar, depth and very high integrity sensor and attitude transducer；The depth
With the keel depth and the height at bottom off sea in very high integrity sensor senses underwater operation robot face off sea；The posture is passed
The posture of sensor sensing underwater operation robot；The shooting and lighting device are taken the photograph by a dome type camera, a wide-angle
As head, two underwater LED lamp compositions；Dome type camera is mounted on the dome camera bracket of underwater operation robot front end,
For operating environment under omnidirectional's observation water；Wide-angle camera is arranged on the wide-angle imaging head bracket of robot rear end, for fixed
To observation rear underwater operation environment；Two illuminating lamps are separately mounted to described dome camera bracket or so, under water according to
It is bright；The forward sight image sonar is located at underwater operation robot front end.
7. the underwater operation robot that a kind of migration is mixed according to claim 1, it is characterised in that：The framework is poly- third
Alkene framework, including be made up of four pieces of crossbeams transverse beam assembly, two blocks of propeller bracket plates, keep off after two pieces of side plates, control gas-tight silos
Plate, positioner supporting plate and multiple camera bracket plates.
8. the underwater operation robot that a kind of migration is mixed according to claim 1, it is characterised in that：The floating body module is adopted
Hollow glass micropearl material is used, and with streamlined contour structure, placement is provided with framework upper, and floating body module and is hung down
The through hole of straight propeller.
9. the underwater operation robot that a kind of migration is mixed according to claim 1, it is characterised in that：The suspension bracket is by two panels
Steel frame construction is constituted, and is fixed on transverse beam assembly, lower end encircles control sealed compartment, upper end is stretched out from floating body module.
10. the underwater operation robot that a kind of migration is mixed according to claim 2, it is characterised in that：The travelling driving
Device is made up of four vertical pushers and two horizontal propellers；It is right that four vertical pushers are respectively placed in floating body module four
In the round hole for claiming distribution, and symmetrically it is fixed on by fixture on transverse beam assembly；Two horizontal propellers are respectively by solid
Determine part to fix on the outside of two blocks of propeller bracket plates.
11. the underwater operation robot that a kind of migration is mixed according to claim 1, it is characterised in that：The vision positioning
Device uses binocular visual positioning device.
12. the underwater operation robot that a kind of migration is mixed according to claim 10, it is characterised in that：The bionical knife edge
Leg is walked includes six bionical knife edge legs and its respective drive motor with drive device；Three are installed on the side side plate of framework to imitate
Raw knife edge leg, correspondence motor is arranged in the crossbar bracket of side plate interior sides.
13. the control method for the underwater operation robot that migration described in a kind of claim 12 is mixed, it is characterised in that：Under water
When Work robot is in travelling state, the rotating speed and steering for controlling four vertical pushers realize that underwater operation robot sinks
Floating, pitching and rolling movement, the rotating speed of two horizontal propellers of control realize the front and rear and inclined of underwater operation robot with steering
Shipping is moved；When Work robot is in walking states under water, according to the direction of the scope of operation, four vertical pushers of control are provided
Underwater operation robot adhesive force needed for operation general work, and underwater operation robot is realized by walking and drive device
The front and rear and divertical motion in the scope of operation.
14. a kind of control method of the underwater operation robot of migration mixing according to claim 13, it is characterised in that：
When underwater operation robot is in travelling state, closed loop control is carried out according to depth and the gathered data of very high integrity sensor
System, the rotating speed of four vertical pushers of control and steering, make underwater operation robot according to the face depth or off sea off sea of setting
Highly navigated by water at bottom.
15. a kind of control method of the underwater operation robot of migration mixing according to claim 13, it is characterised in that：
When underwater operation robot is in travelling state, closed-loop control is carried out according to course attitude transducer, four vertical thrusts are controlled
The rotating speed of device and steering, make underwater operation robot with the required angle of pitch and/or rolling angular movement, two levels of control are promoted
The rotating speed of device and steering, make underwater operation robot with required course angular movement.
16. a kind of control method of the underwater operation robot of migration mixing according to claim 13, it is characterised in that：When
Underwater operation robot is in the operation general work of non-flat forms, according to the direction of the scope of operation, and four vertical pushers of control are carried
Supply water lower Work robot adhesive force needed for operation general work, and bionical knife edge leg walking uses triped gait with drive device
Mode, is alternately walked in the form of triangular supports structure.
17. a kind of control method of the underwater operation robot of migration mixing according to claim 13, it is characterised in that：When
Underwater operation robot is in flat operation general work, according to the direction of the scope of operation, and four vertical pushers of control are provided
Underwater operation robot adhesive force needed for operation general work, controls omni-directional wheel walking and each omnidirectional in drive device respectively
The rotating speed of wheel and steering, omnidirectional in the flat scope of operation of control underwater operation robot walks.
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| CN201710199939.9A CN107097238A (en) | 2017-03-30 | 2017-03-30 | The underwater operation robot and its control method of a kind of migration mixing |
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| CN201710199939.9A CN107097238A (en) | 2017-03-30 | 2017-03-30 | The underwater operation robot and its control method of a kind of migration mixing |
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| CN108100191A (en) * | 2017-12-21 | 2018-06-01 | 大连厚德坤泰管理咨询有限公司 | Full attitude motion underwater robot |
| CN109571450A (en) * | 2019-01-17 | 2019-04-05 | 北京理工大学 | Immersion boundary control method for multi-joint snake-shaped robot avoidance under water |
| CN109760803A (en) * | 2018-12-27 | 2019-05-17 | 中国航天空气动力技术研究院 | A kind of underwater cleaning robot |
| CN109774902A (en) * | 2019-02-25 | 2019-05-21 | 集美大学 | A kind of novel multifunctional bionic submersible |
| CN109774901A (en) * | 2018-12-25 | 2019-05-21 | 中国海洋大学 | A kind of underwater fighter toy of three-stage |
| CN110294042A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of multi-locomotion mode running gear |
| CN110316274A (en) * | 2019-06-18 | 2019-10-11 | 北京工业大学 | A kind of imitative lizard robot of walking and scrolling function |
| CN111604306A (en) * | 2020-05-19 | 2020-09-01 | 深圳市南星海洋工程服务有限公司 | Jacket marine organism cleaning robot |
| CN113419545A (en) * | 2021-07-23 | 2021-09-21 | 西北工业大学 | Underwater robot optimization control method with slippage control |
| CN113695289A (en) * | 2021-08-27 | 2021-11-26 | 飞马滨(青岛)智能科技有限公司 | Underwater robot for cleaning net cage of marine ranching |
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| CN109774901A (en) * | 2018-12-25 | 2019-05-21 | 中国海洋大学 | A kind of underwater fighter toy of three-stage |
| CN109774901B (en) * | 2018-12-25 | 2020-03-27 | 中国海洋大学 | Three-section underwater deformation robot |
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| CN110316274A (en) * | 2019-06-18 | 2019-10-11 | 北京工业大学 | A kind of imitative lizard robot of walking and scrolling function |
| CN111604306A (en) * | 2020-05-19 | 2020-09-01 | 深圳市南星海洋工程服务有限公司 | Jacket marine organism cleaning robot |
| CN111604306B (en) * | 2020-05-19 | 2022-03-15 | 深圳市南星海洋工程服务有限公司 | Jacket marine organism cleaning robot |
| CN113419545A (en) * | 2021-07-23 | 2021-09-21 | 西北工业大学 | Underwater robot optimization control method with slippage control |
| CN113419545B (en) * | 2021-07-23 | 2022-09-27 | 西北工业大学 | Underwater robot optimization control method with slippage control |
| CN113695289A (en) * | 2021-08-27 | 2021-11-26 | 飞马滨(青岛)智能科技有限公司 | Underwater robot for cleaning net cage of marine ranching |
| CN113695289B (en) * | 2021-08-27 | 2022-07-19 | 飞马滨(青岛)智能科技有限公司 | Underwater robot for cleaning net cage of marine ranching |
| CN116022313A (en) * | 2023-03-29 | 2023-04-28 | 无锡学院 | Multi-sensing robot for underwater detection and use method |
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Application publication date: 20170829 |