CN112918649A - Underwater spherical robot capable of automatically realizing six-degree-of-freedom posture adjustment - Google Patents
Underwater spherical robot capable of automatically realizing six-degree-of-freedom posture adjustment Download PDFInfo
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- CN112918649A CN112918649A CN202110378594.XA CN202110378594A CN112918649A CN 112918649 A CN112918649 A CN 112918649A CN 202110378594 A CN202110378594 A CN 202110378594A CN 112918649 A CN112918649 A CN 112918649A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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Abstract
The invention provides an underwater spherical robot capable of automatically realizing six-degree-of-freedom posture adjustment. The spheroid body includes ball-type shell and back shaft, it includes first driver to rotate driver part, second driver and third driver, it includes propeller blade and air pump to remove driver part, through first driver, second driver and third driver drive the posture adjustment that the back shaft realized spheroid X, Y, Z direction, the rotation through propeller blade realizes the spheroid around, the motion about, adjust the spheroid water-logging and gaseous proportion through the air pump and realize that the spheroid sinks and the come-up, thereby realize the posture adjustment of six degrees of freedom. In addition, the shell of the underwater motion recognition device is a sphere with a smooth surface, the friction force between the sphere and water is small, the flexibility of underwater motion can be improved, and a target object can be flexibly recognized through the target capturing module.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to an underwater spherical robot capable of autonomously realizing six-degree-of-freedom posture adjustment.
Background
The underwater robot is a limit operation robot working underwater, the underwater environment is severe and dangerous, the diving depth of the person is limited, and the underwater robot has the advantages of strong pressure resistance, good stability, flexible movement, easy concealment and the like, so that the underwater robot becomes an important tool for developing the ocean, and has wide application prospect in the fields of military and national defense, oil exploration, scientific investigation, aquaculture and the like.
The motion control technology is the key for the underwater robot to achieve the control target, and the freedom of motion is also an important aspect for the underwater robot. The underwater environment is complex, the underwater robot needs to move in multiple degrees of freedom, posture adjustment in multiple degrees of freedom is beneficial to improving flexibility and controllability of the underwater robot, and motion requirements in complex environment are met.
Disclosure of Invention
The invention aims to provide an underwater spherical robot capable of autonomously realizing six-degree-of-freedom posture adjustment.
In order to achieve the purpose, the invention provides the following scheme:
an underwater spherical robot capable of autonomously realizing a six-degree-of-freedom adjustment posture, comprising: the device comprises a ball body, a rotation driving part, a movement driving part and a control module;
the sphere body comprises a spherical shell and support shafts which are positioned in the shell and fixedly connected with the shell, the support shafts comprise an X support shaft, a Y support shaft and a Z support shaft, and the support shafts are mutually vertical in pairs and intersect at the center of the spherical shell;
the rotating driving part is positioned in the shell and comprises a first driver, a second driver and a third driver; the first driver is used for driving the X supporting shaft to rotate around the axis of the X supporting shaft; the second driver is used for driving the Y supporting shaft to rotate around the axis of the Y supporting shaft; the third driver is used for driving the Z supporting shaft to rotate around the axis of the Z supporting shaft;
the moving driving part comprises a propeller blade and an air pump; the propeller blades are positioned outside the shell and used for driving the sphere body to move back and forth and left and right; the air pump is positioned in the shell and used for adjusting the proportion of water and air in the ball body to realize the sinking and floating of the ball body;
and the control module is used for controlling the rotation of the support shaft, the forward and reverse rotation of the propeller blade and the opening and closing of a valve of the air pump.
Optionally, the first driver comprises:
the first inertia wheel is sleeved on the X supporting shaft;
the first motor is respectively and electrically connected with the control module and the first inertia wheel and is used for driving the first inertia wheel to rotate according to the instruction of the control module;
the second driver includes:
the second inertia wheel is sleeved on the Y supporting shaft;
the second motor is respectively electrically connected with the control module and the second inertia wheel and is used for driving the second inertia wheel to rotate according to the instruction of the control module;
the third driver includes:
the third inertia wheel is sleeved on the Z supporting shaft;
and the third motor is respectively electrically connected with the control module and the third inertia wheel and is used for driving the third inertia wheel to rotate according to the instruction of the control module.
Optionally, the control module is mounted at an intersection of the X support shaft, the Y support shaft and the Z support shaft.
Optionally, the control module comprises:
the information processing unit is used for judging whether the current capture object is the target object according to the pre-stored characteristic information of the target object to obtain a judgment result, and sending a control instruction to the controller according to the judgment result and processing the captured characteristic information of the target object;
the communication unit is used for receiving signals sent by the overwater terminal and sending the target object characteristic information processed by the information processing unit to the overwater terminal;
and the storage battery is respectively electrically connected with the rotation driving part, the movement driving part, the information processing unit and the communication unit and is used for supplying power to the rotation driving part, the movement driving part, the information processing unit and the communication unit.
Optionally, the propeller blade and the air pump are respectively located on two sides of the center of the spherical shell on the same support shaft, so as to achieve the balance of the propeller blade and the air pump in terms of weight.
Optionally, the underwater spherical robot capable of autonomously realizing six-degree-of-freedom adjustment posture further includes:
the target capture module is fixed outside the shell and comprises a camera, a target measuring instrument and a material analyzer, wherein the camera is used for shooting the target object, the target measuring instrument is used for acquiring the size and shape information of the target object, and the material analyzer is used for analyzing the material of the target object.
Optionally, the underwater spherical robot capable of autonomously realizing six-degree-of-freedom adjustment posture further includes: the target capturing module fixing frame comprises a fixing pipe and an outer ring sleeved outside the shell, one end of the fixing pipe is fixedly connected with the surface of the shell, and the other end of the fixing pipe is rotatably connected with the outer ring so that the outer ring can rotate around the fixing pipe; the target capture module is slidably coupled to the outer ring.
Optionally, the target capture module holder further comprises a robotic arm connected to the outer ring by a moveable interface to effect movement along the outer ring; the target capture module is secured to the robotic arm.
Optionally, the robotic arm is a movable, retractable robotic arm.
Optionally, the underwater spherical robot capable of autonomously realizing six-degree-of-freedom adjustment posture further includes:
and the positioning module is connected with the control module and used for sending position information to the overwater terminal.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the underwater spherical robot capable of automatically realizing six-degree-of-freedom posture adjustment comprises a spherical body, a rotation driving part, a movement driving part and a control module. The spheroid body includes ball-type shell and back shaft, rotates the driver part and includes first driver, second driver and third driver, removes the driver part and includes propeller blade and air pump, through first driver, second driver and third driver drive the posture adjustment that the back shaft realized spheroid X, Y, Z direction, through propeller blade's rotation realization spheroid back and forth, the motion about, adjust spheroid water-logging and gaseous proportion and realize spheroidal sinking and come-up to realize the posture adjustment of six degrees of freedom.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of an underwater spherical robot capable of autonomously realizing six-degree-of-freedom posture adjustment according to the present invention;
FIG. 2 is a schematic structural diagram of a first actuator of the underwater spherical robot capable of autonomously realizing six-degree-of-freedom posture adjustment according to the present invention;
fig. 3 is a schematic diagram of a target capturing module of the underwater spherical robot capable of autonomously realizing six-degree-of-freedom posture adjustment according to the present invention.
Description of the symbols:
1-sphere body, 11-sphere shell, 12-support shaft, 121-X support shaft, 122-Y support shaft and 123-Z support shaft; 2-rotational drive means, 21-first drive, 211-first inertia wheel, 212-first motor, 22-second drive, 23-third drive; 3-moving driving part, 31-propeller blade, 32-air pump, 33-connecting rod; 4-a control module; 5-target capture module, 51-camera, 52-target measuring instrument, 53-material analyzer; 61-fixed tube, 62-outer ring, 63-mechanical arm; 7-positioning module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an underwater spherical robot capable of autonomously realizing six-degree-of-freedom posture adjustment.
Compared with the traditional underwater robot, the underwater robot disclosed by the invention can realize posture adjustment and rotation with six degrees of freedom according to different requirements. Meanwhile, a target object (such as underwater creatures, underwater optical cable pipelines and the like) which needs to be captured is selected through an information module prestored in the control module.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the underwater spherical robot capable of autonomously realizing six-degree-of-freedom adjustment posture according to the present invention includes: the device comprises a sphere body 1, a rotation driving part 2, a movement driving part 3 and a control module 4.
The sphere body 1 comprises a spherical shell 11 and a support shaft 12 which is positioned inside the shell 11 and fixedly connected with the shell 11, wherein the support shaft 12 comprises an X support shaft 121, a Y support shaft 122 and a Z support shaft 123, and the support shafts are mutually perpendicular in pairs and intersect at the center of the spherical shell 11. The spherical shell 11 has a smooth surface and small friction with water, is convenient to control and is not easy to damage particularly when posture adjustment is carried out.
A rotation driving part 2, located inside the housing 11, including a first driver 21, a second driver 22 and a third driver 23; the first driver 21 is used for driving the X supporting shaft 121 to rotate around the axis of the X supporting shaft; the second driver 22 is used for driving the Y supporting shaft 122 to rotate around the axis of the Y supporting shaft; the third driver 23 is used to drive the Z support shaft 123 to rotate about its own axis. Further, the first actuator 21, the second actuator 22, and the third actuator 23 are equal in weight, and self-balancing can be achieved.
The moving driving part 3 comprises a propeller blade 31 and an air pump 32; the propeller blades 31 are positioned outside the shell 11 and used for driving the sphere body 1 to move back and forth and left and right; the air pump 32 is located inside the shell 11 and used for adjusting the proportion of water and air in the ball body 1 to realize the sinking and floating of the ball body 1. In the embodiment of the present invention, the propeller blades 31 generate a force by acting with water, thereby pushing the movement of the ball body 1. The propeller blade 31 is connected with the ball shell 11 through a telescopic connecting rod 33, so that the distance between the propeller blade 31 and the ball body 1 can be increased, the contact area between the blade and water is increased, and the problem of insufficient power is solved. The propeller blades 31 rotate forward, and the sphere rotates forward; the propeller blades 31 are reversed and the sphere is turned backwards. The propeller blades 31 are two blades capable of rotating 360 degrees, and a plurality of groups of blades can be arranged according to actual needs. In addition, the sphere body 1 is provided with a channel communicated with the outside, and the communication with the outside is realized by controlling the opening and closing of the valve. Compressed nitrogen is filled in the air pump 32, and as the nitrogen is insoluble in water and has lower density than water, the nitrogen is released into the ball to occupy the space of water, so that the water in the ball is discharged outwards, the whole weight is reduced, and the floating is realized. By discharging nitrogen out of the ball, water out of the ball enters the ball through the channel, resulting in an increase in overall weight, thereby achieving sinking.
The control module 4 is used for controlling the rotation of the support shaft 12, the forward and reverse rotation of the propeller blades 31 and the opening and closing of the valve of the air pump 32.
Further, as shown in fig. 2, the first driver 21 includes: a first inertia wheel 211 and a first motor 212.
A first inertia wheel 211 is journalled on the X support shaft.
The first motor 212 is electrically connected to the control module 4 and the first inertia wheel 211, and is configured to drive the first inertia wheel 211 to rotate according to an instruction of the control module 4. In a particular embodiment of the invention, a first motor 212 is fixed to said X support shaft 121.
The second driver includes: a second flywheel and a second motor (not shown).
And the second inertia wheel is sleeved on the Y supporting shaft.
And the second motor is respectively and electrically connected with the control module 4 and the second inertia wheel and is used for driving the second inertia wheel to rotate according to the instruction of the control module 4. In a particular embodiment of the invention, a second motor is fixed to said Y support shaft.
The third driver includes: a third flywheel and a third motor (not shown).
And the third inertia wheel ring is sleeved on the Z support shaft.
And the third motor is respectively electrically connected with the control module 4 and the third inertia wheel and is used for driving the third inertia wheel to rotate according to the instruction of the control module 4. In a particular embodiment of the invention, a third motor is fixed to said Z support shaft.
Preferably, the control module 4 is installed at an intersection of the X, Y and Z support shafts 121, 122 and 123, which is the center and gravity center of the sphere 1, and the control module 4 is installed at the gravity center of the sphere 1 to maintain the balance of the sphere 1.
Further, the control module 4 includes: an information processing unit, a communication unit and a storage battery.
And the information processing unit is used for judging whether the current capture object is the target object according to the pre-stored characteristic information of the target object to obtain a judgment result, and sending a control instruction to the controller according to the judgment result and processing the captured characteristic information of the target object. Specifically, before the underwater vehicle is placed under water, information about a target object is stored in the module in advance, the information processing unit can judge whether the currently captured object is the target object according to the information obtained by the target capturing module, the information processing module can send a judgment result to the controller, and the controller sends corresponding instructions to the rotary driving part and the movable driving part according to the judgment result.
The communication unit is used for receiving signals sent by the overwater terminal and sending the target object characteristic information processed by the information processing unit to the overwater terminal.
And the storage battery is electrically connected with the rotating driving part 2, the moving driving part 3, the information processing unit and the communication unit respectively and used for supplying power to the rotating driving part 2, the moving driving part 3, the information processing unit and the communication unit.
Preferably, the propeller blades 31 and the air pump 32 are respectively located on the same support shaft 12 on both sides of the center of the spherical housing 11 to achieve the balance of the propeller blades 31 and the air pump 32 in terms of weight. Specifically, if the propeller blades 31 are located on the negative half axis of the Y support shaft 122, the air pump 32 is mounted in the positive half axis direction of the Y support shaft 122. Further, in order to capture a target object, as shown in fig. 1, the underwater spherical robot capable of autonomously realizing six-degree-of-freedom adjustment posture according to the present invention further includes: a target capture module 5.
The target capture module 5 is fixed outside the housing 11, and includes a camera 51, a target measuring instrument 52 and a material analyzer 53, as shown in fig. 3, the camera 51 is used for shooting the target object, the target measuring instrument 52 is used for acquiring size and shape information of the target object, and the material analyzer 53 is used for analyzing the material of the target object.
In order to improve the flexibility of capturing the target object, the underwater spherical robot capable of autonomously realizing six-degree-of-freedom posture adjustment further comprises: a target capture module holder (not shown).
As shown in fig. 1, the object capturing module holder includes a fixed tube 61 and an outer ring 62 sleeved outside the housing 11, one end of the fixed tube 61 is fixedly connected with the surface of the housing 11, and the other end is rotatably connected with the outer ring 62, so that the outer ring 62 can rotate around the fixed tube 61; the target capture module 5 is slidably connected to the outer ring 62.
Preferably, as shown in FIG. 1, the object capture module holder further comprises a robotic arm 63, the robotic arm 63 being connected to the outer ring 62 via a moveable interface to effect movement along the outer ring 62; the target capture module 5 is secured to the robotic arm 63. The mechanical arm 63 is capable of circular movement around the outer ring, and the outer ring 62 is capable of 360 ° rotation around the fixed tube 61.
Preferably, the robotic arm 63 is a movable, retractable robotic arm.
In order to achieve a better effect, the underwater spherical robot capable of autonomously achieving six-degree-of-freedom posture adjustment further comprises: a positioning module 7 (not shown).
And the positioning module 7 is connected with the control module 4 and used for sending position information to the overwater terminal. Specifically, the positioning module 7 sends the position information of the current sphere 1 to the water terminal through the communication unit, so that the water terminal can determine the current position of the robot, and the robot can be conveniently retrieved.
The working process of the invention is as follows: when the robot moves underwater, an object with characteristics similar to those of a pre-stored target object is found through the camera, the direction of the current shooting object is measured according to the distance sensor, after position information is determined, X, Y and Z-direction posture adjustment can be firstly carried out on the ball body according to the position information, then front-back and left-right movement is carried out through the propeller blades and up-down adjustment is carried out through the air pump, and finally the position of the target capture module is adjusted through the outer ring and the mechanical arm, so that the camera, the target measurement instrument and the like are in a better angle; after the position of the shooting object is reached, the target capturing module can capture the information of the current object according to the actual situation, then the information is stored in the control module, the information can be transmitted back to the water terminal through the communication module, the information can also be temporarily stored in the control module, and the relevant information is exported when the robot returns to the water.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An underwater spherical robot capable of autonomously realizing six-degree-of-freedom adjustment postures, characterized by comprising: the device comprises a ball body, a rotation driving part, a movement driving part and a control module;
the sphere body comprises a spherical shell and support shafts which are positioned in the shell and fixedly connected with the shell, the support shafts comprise an X support shaft, a Y support shaft and a Z support shaft, and the support shafts are mutually vertical in pairs and intersect at the center of the spherical shell;
the rotating driving part is positioned in the shell and comprises a first driver, a second driver and a third driver; the first driver is used for driving the X supporting shaft to rotate around the axis of the X supporting shaft; the second driver is used for driving the Y supporting shaft to rotate around the axis of the Y supporting shaft; the third driver is used for driving the Z supporting shaft to rotate around the axis of the Z supporting shaft;
the moving driving part comprises a propeller blade and an air pump; the propeller blades are positioned outside the shell and used for driving the sphere body to move back and forth and left and right; the air pump is positioned in the shell and used for adjusting the proportion of water and air in the ball body to realize the sinking and floating of the ball body;
and the control module is used for controlling the rotation of the support shaft, the forward and reverse rotation of the propeller blade and the opening and closing of a valve of the air pump.
2. The underwater spherical robot capable of autonomously achieving a six-degree-of-freedom adjustment posture according to claim 1, characterized in that the first driver comprises:
the first inertia wheel is sleeved on the X supporting shaft;
the first motor is respectively and electrically connected with the control module and the first inertia wheel and is used for driving the first inertia wheel to rotate according to the instruction of the control module;
the second driver includes:
the second inertia wheel is sleeved on the Y supporting shaft;
the second motor is respectively electrically connected with the control module and the second inertia wheel and is used for driving the second inertia wheel to rotate according to the instruction of the control module;
the third driver includes:
the third inertia wheel is sleeved on the Z supporting shaft;
and the third motor is respectively electrically connected with the control module and the third inertia wheel and is used for driving the third inertia wheel to rotate according to the instruction of the control module.
3. The underwater spherical robot capable of autonomously achieving a six-degree-of-freedom adjustment posture according to claim 1, characterized in that the control module is installed at an intersection of the X support shaft, the Y support shaft, and the Z support shaft.
4. The underwater spherical robot capable of autonomously achieving a six-degree-of-freedom adjustment posture according to claim 1, characterized in that the control module comprises:
the information processing unit is used for judging whether the current capture object is the target object according to the pre-stored characteristic information of the target object to obtain a judgment result, and sending a control instruction to the controller according to the judgment result and processing the captured characteristic information of the target object;
the communication unit is used for receiving signals sent by the overwater terminal and sending the target object characteristic information processed by the information processing unit to the overwater terminal;
and the storage battery is respectively electrically connected with the rotation driving part, the movement driving part, the information processing unit and the communication unit and is used for supplying power to the rotation driving part, the movement driving part, the information processing unit and the communication unit.
5. The underwater spherical robot capable of autonomously realizing six-degree-of-freedom adjustment posture according to claim 1, wherein the propeller blade and the air pump are respectively located on the same support shaft on both sides of the center of the spherical housing to realize the balance of the propeller blade and the air pump in terms of weight.
6. The underwater spherical robot capable of autonomously achieving six-degree-of-freedom adjustment postures according to claim 1, further comprising:
the target capture module is fixed outside the shell and comprises a camera, a target measuring instrument and a material analyzer, wherein the camera is used for shooting the target object, the target measuring instrument is used for acquiring the size and shape information of the target object, and the material analyzer is used for analyzing the material of the target object.
7. The underwater spherical robot capable of autonomously achieving six-degree-of-freedom adjustment postures according to claim 6, further comprising: the target capturing module fixing frame comprises a fixing pipe and an outer ring sleeved outside the shell, one end of the fixing pipe is fixedly connected with the surface of the shell, and the other end of the fixing pipe is rotatably connected with the outer ring so that the outer ring can rotate around the fixing pipe; the target capture module is slidably coupled to the outer ring.
8. The underwater spherical robot capable of autonomously achieving a six degree-of-freedom adjustment posture of claim 7, wherein the target capture module mount further comprises a robotic arm connected with the outer ring through a movable interface to effect movement along the outer ring; the target capture module is secured to the robotic arm.
9. The underwater spherical robot capable of autonomously achieving a six-degree-of-freedom adjustment posture according to claim 8, characterized in that the robot arm is a movable, stretchable one.
10. The underwater spherical robot capable of autonomously achieving six-degree-of-freedom adjustment postures according to claim 1, further comprising:
and the positioning module is connected with the control module and used for sending position information to the overwater terminal.
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| CN101565095A (en) * | 2009-05-22 | 2009-10-28 | 北京邮电大学 | Underwater spherical robot with six degrees of freedom |
| CN102398265A (en) * | 2010-09-17 | 2012-04-04 | 俞建峰 | Universal rolling spherical robot |
| JP2017159816A (en) * | 2016-03-10 | 2017-09-14 | 書祥 郭 | Underwater robot |
| CN107651143A (en) * | 2017-09-13 | 2018-02-02 | 北京邮电大学 | A kind of underwater sail power intelligent spherical robot |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
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2021
- 2021-04-08 CN CN202110378594.XA patent/CN112918649B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101565095A (en) * | 2009-05-22 | 2009-10-28 | 北京邮电大学 | Underwater spherical robot with six degrees of freedom |
| CN102398265A (en) * | 2010-09-17 | 2012-04-04 | 俞建峰 | Universal rolling spherical robot |
| JP2017159816A (en) * | 2016-03-10 | 2017-09-14 | 書祥 郭 | Underwater robot |
| CN107651143A (en) * | 2017-09-13 | 2018-02-02 | 北京邮电大学 | A kind of underwater sail power intelligent spherical robot |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
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