CN115122838A - Amphibious light material recycling intelligent vehicle - Google Patents
Amphibious light material recycling intelligent vehicle Download PDFInfo
- Publication number
- CN115122838A CN115122838A CN202210755251.5A CN202210755251A CN115122838A CN 115122838 A CN115122838 A CN 115122838A CN 202210755251 A CN202210755251 A CN 202210755251A CN 115122838 A CN115122838 A CN 115122838A
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- Prior art keywords
- light material
- intelligent vehicle
- large arm
- steering engine
- amphibious
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
- E01H1/0836—Apparatus dislodging all of the dirt by suction ; Suction nozzles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Ocean & Marine Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention relates to the field of garbage recycling vehicles, in particular to an amphibious light material recycling intelligent vehicle. The problem that the existing amphibious garbage can not be effectively grabbed during recycling is solved. Including the automobile body, the automobile body is provided with land advancing mechanism and waters advancing mechanism on the automobile body, its characterized in that: the steering mechanism is arranged on a mounting frame body of the vehicle body, a fan base is mounted on the steering mechanism, and a combination of a fan and a duct hose is mounted through the fan base; the land advancing mechanism, the water area advancing mechanism, the steering mechanism, the fan, the pitching mechanism and the swinging mechanism are controlled by a control system. This device can turn to wobbling suction system through the adoption, realizes the quick accurate of light material and picks up.
Description
Technical Field
The invention relates to the field of garbage recycling vehicles, in particular to an amphibious light material recycling intelligent vehicle.
Background
The original method of salvaging surface waste was to use a half-cabin or deck motor barge. The sanitation worker holds the net bag and stands on the deck to directly scoop up the garbage. The traditional fishing method has the advantages of high labor intensity, severe working environment, no guarantee of personal safety and low garbage cleaning efficiency. Moreover, the general mechanized salvaging equipment has a small working face, can not reach mudflats and narrow rivers, can not thoroughly clean garbage, and can not automatically collect garbage on the shore.
The existing amphibious robot still has several problems, firstly, when the robot grabs garbage, the robot grabs insecurely, the shape of the garbage on the water surface is various, the grabbing equipment can not grab the garbage effectively, and secondly, when the robot sails on the water surface, the robot jolts on the river surface extremely due to the river wind generated by waves, and the garbage can not be grabbed effectively.
Disclosure of Invention
The invention provides an amphibious light material recycling intelligent vehicle, which effectively solves the problem that the existing amphibious garbage recycling cannot be effectively grabbed.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides an amphibious light-duty material recovery intelligent vehicle, includes automobile body 1, is provided with land advancing mechanism and waters advancing mechanism on the automobile body 1, its characterized in that: the steering mechanism is arranged on a mounting frame body 14 of the vehicle body 1, a fan base 15 is arranged on the steering mechanism, and a combination of a fan 16 and a duct hose 32 is arranged on the fan base 15; the wind power generation system is characterized in that a wind machine base turntable 21 is installed on the wind machine base 15, a pitching mechanism, a swinging mechanism and a wind port control mechanism for controlling the air duct hose 32 are installed on the wind machine base turntable 21, and the land advancing mechanism, the water area advancing mechanism, the steering mechanism, the wind machine 16, the pitching mechanism and the swinging mechanism are all controlled by the control system 13.
The land advancing mechanism and the water area advancing mechanism are switched by the combination of a buoy device steering engine 4 and a buoy device pull rod 5.
The vehicle body 1 is provided with a recovery box 10 and an image recognizer 12, and the image recognizer 12 and a control system 13 are in data transmission.
The steering mechanism comprises a steering engine 17, a driving wheel 18, a driven wheel 19 and a belt transmission set 20, the steering engine 17 drives the driving wheel 18, the driving wheel 18 is meshed with the driven wheel 19, the driven wheel 19 drives the belt transmission set 20, and the belt transmission set 20 is provided with a fan base 15.
The pitching mechanism comprises a large arm driving steering engine 22, a large arm crank 24, a large arm pull rod 25 and a large arm 26, the large arm driving steering engine 22 is installed on the fan seat turntable 21, and the large arm driving steering engine 22 drives the large arm 26 through the large arm crank 22 and the large arm pull rod 25.
The large arm 26 is mounted on an air duct hose 32 through an air port control platform 30.
The swing mechanism comprises a small arm driving steering engine 23 and a small arm 27, the small arm driving steering engine 23 is installed on the fan seat turntable 21, one end of the small arm 27 is connected with the small arm driving steering engine 23, and the other end of the small arm 27 is installed on the large arm 26.
The tuyere control mechanism comprises a tuyere control piece 28, a tuyere control rod 29, a tuyere control platform 30 and a connecting rod 31; the connecting rod 31 is installed on the fan seat turntable 21, and the connecting rod 31, the air inlet control piece 28, the air inlet control rod 29 and the air inlet control platform 30 are sequentially installed and connected.
A spring 33 is wound around the duct hose 32, and a restrictor 34 is installed in the duct hose 32.
And a control panel, a remote control receiver and a Beidou positioner are arranged in the control system 13.
The invention has the beneficial effects that:
(1) the trolley has an amphibious light material recovery operation function, can adapt to wider working scenes, particularly light materials in entertainment, sports and production scenes such as land and water surface interweaving, can be cleaned, picked and recovered, and can overcome the problems of large workload, large operation difficulty, inconvenience in carrying tools and the like;
(2) the trolley has the functions of automatic and intelligent target object identification, positioning and tracking, improves the operation efficiency, and reduces the labor intensity and the human resource cost of workers in related working scenes;
(3) the trolley can reach a complex environment area with mudflats, narrow river sides and water and land interweaving in an unmanned state, so that light materials such as garbage and the like are thoroughly cleared, and the danger caused by the operation of workers in a complex scene is avoided;
(4) the trolley adopts an adsorption type material recovery operation mode instead of grabbing or fishing, has good adaptability to the shape and appearance of the material, and is simple in structure and low in cost;
(5) the trolley adopts an electric mode and a pneumatic material grabbing and throwing system, is energy-saving and environment-friendly, has high cost performance, and has wide application value.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a vehicle body mounting structure and a water traveling mechanism;
FIG. 3 is a schematic structural view of a land travel mechanism;
FIG. 4 is a schematic structural view of a steering mechanism, a pitching mechanism, a swinging mechanism and a tuyere control mechanism;
FIG. 5 is a schematic structural view of a pitching mechanism, a swinging mechanism and a tuyere control mechanism;
FIG. 6 is a schematic view of the restrictor;
FIG. 7 is a schematic flow chart of the present invention;
shown in the figure: the device comprises a vehicle body 1, wheels 2, a wheel speed reducing motor 3, a buoy device steering gear 4, a buoy device pull rod 5, a buoy 6, a buoy connecting plate 7, a brush motor 8, a propeller 9, a recovery box 10, a support 11, an image recognizer 12, a control system 13, a mounting frame body 14, a fan seat 15, a fan 16, a steering gear 17, a driving wheel 18, a driven wheel 19, a belt transmission set 20, a fan seat turntable 21, a large arm driving steering gear 22, a small arm driving steering gear 23, a large arm crank 24, a large arm pull rod 25, a large arm 26, a small arm 27, an air port control piece 28, an air port control rod 29, an air port control platform 30, a connecting rod 31, an air channel hose 32, a spring 33 and a throttler 34.
Detailed Description
The technical scheme of the invention is further explained by specific embodiments in the following with the accompanying drawings:
as shown in fig. 1-7, the invention provides an amphibious light material recovery intelligent vehicle, which comprises a land traveling mechanism, a water area traveling mechanism, an air suction system, a steering mechanism, a pitching mechanism, a swinging mechanism, an air port control mechanism, a target identification system and a control system.
Land advancing mechanism: comprises a wheel 2 and a wheel speed reducing motor 3; four wheel reduction motors 3 are connected with four wheels 2 through vehicle body driving square shafts, and the functions of advancing, retreating and differential steering on the land are realized by matching with a control system.
A water area advancing mechanism: comprises a float bowl 6, a float bowl connecting plate 7, a brush motor 8 and a propeller 9. The vehicle comprises a vehicle body 1, buoys 6, buoy connecting plates 7, hinge hinges and brush motors 8, wherein the buoys 6 are symmetrically arranged on two sides of the vehicle body 1 and connected with the buoy connecting plates 7 through ropes, the rear portions of the buoys 6 are connected with the brush motors 8 through bolts, and propellers 9 are installed on the brush motors 8.
When the device works in a water area, the buoy device needs to be unfolded, and the structure comprises a buoy device steering engine 4 and a buoy device pull rod 5. The eccentric wheel on the buoy device is rotated by 90 degrees under the action of the buoy device steering engine 4, the eccentric wheel is rotated by 90 degrees to drive the buoy device pull rod 5 to move towards two sides, and the other end of the buoy device pull rod 5 is fixed on the buoy connecting plate 7, so that the buoy connecting plate 7 is driven to unfold or fold in the movement process of the buoy device pull rod 5. And further realizes the functions of advancing, retreating and differential steering of the water area by matching with the propeller 98.
The vehicle body 1 is provided with a mounting frame body 14, and an air suction system, a steering mechanism, a pitching mechanism and a swinging mechanism are mounted through the mounting frame body 14.
A steering mechanism: comprises a steering engine 17, a driving wheel 18, a driven wheel 19 and a belt transmission group 20. A driving wheel 18 is installed through a set screw under the action of a 360-degree steering engine 17, a driven wheel 19 is driven under the action of the driving wheel 18, and the driven wheel 19 drives a belt transmission set 20 through the set screw. The belt transmission group 20 is provided with the fan base 15, and the rotation of the belt transmission group 20 drives the fan base 15 to rotate. The steering of the air suction system is realized.
The pitching mechanism comprises: comprises a big arm driving steering engine 22, a big arm crank 24, a big arm pull rod 25 and a big arm 26. The large arm driving steering engine 22 is fixed on the fan base 15 through a bolt, the large arm driving steering engine 22 drives the large arm crank 24 to rotate, the large arm crank 24 rotates to drive the large arm pull rod 25 to move, and the pitching function of the large arm 26 is achieved under the movement of the large arm pull rod 25. Meanwhile, the large arm 26 is installed on the tuyere control platform 30, and the pitching of the large arm 26 realizes the pitching motion of the air duct hose 32.
A swinging mechanism: comprises a small arm driving steering engine 23 and a small arm 27. The small arm driving steering engine 23 is fixed on the fan base 15 through a bolt, a small arm 27 is installed on a small arm connecting piece installed at the power output end of the small arm driving steering engine 23, the other end of the small arm 27 is installed on the large arm 26, and the swinging function of the large arm 26 is achieved under the rotation of the driving force of the small arm driving steering engine 23. Thereby achieving the swinging function of the air duct hose 32.
The tuyere control mechanism: comprises an air inlet control piece 28, an air inlet control rod 29, an air inlet control platform 30 and a connecting rod 31. The connecting rod 31 is installed on the fan seat turntable 21, and the connecting rod 31, the air inlet control piece 28, the air inlet control rod 29 and the air inlet control platform 30 are sequentially installed and connected. Port leveling of the duct hose 32 is effectively ensured by the tuyere control mechanism.
A target recognition system: the bracket 11 is fixed to the vehicle body 1 for the image recognizer 12 to be mounted through the bracket 11. The image recognizer may capture images by performing a 360 degree rotational scan in the direction of X, Y, Z, input the images into a trained neural network model, recognize the target object class and determine the size.
The control system comprises: install on automobile body 1, inside control panel, remote control receiver and big dipper locator of including. The control system can realize scene selection and mode switching control, and the vehicle can select working scenes such as water, land, indoor or outdoor and the like, so that different control processes and algorithm programs are matched. In addition, the automatic cruise control system also comprises automatic cruise control and remote control mode switching, and switching is carried out through the control panel, wherein the automatic cruise control realizes automatic region cruise control work according to an algorithm in the control panel. The remote control mode is carried with a remote control receiver to realize the control of a remote controller, thereby being not limited by the area. The Beidou positioner is used for monitoring the position of the amphibious light material recycling intelligent vehicle in real time.
The specific flow is shown as 7:
after the power-on is started, the control system/communication system performs self-checking and starts a remote control mode, a working scene is selected or switched through a remote controller, when a land scene is selected, the four wheels are driven by the chassis speed reducing motor of the trolley to move, and when a water area scene is selected, the buoy and the underwater propeller are unfolded; the method comprises the following steps that a left propeller and a right propeller are symmetrically arranged to drive a trolley to move, the trolley moving path planning is to shoot through an image recognizer and automatically recognize target types and scales, and the target types and scales are recognized by adopting a neural network algorithm and are subjected to large-scale sample training; the compass locator is utilized to confirm the position of the identified target and estimate the distance, then the 360-degree steering engine drives the transmission system to track the target, the movement track correction is realized by detecting the distance and the position coordinates, and the target object grabbing program is started when the distance difference value is zero: the No. 1 steering engine drives the small arm to drive the large arm to realize swinging action, the No. 2 steering engine drives the crank to drive the large arm pull rod to realize pitching action, the suction air channel is moved to the upper part of the center of a target object and is in close contact under the cooperative work of the two steering engines, the electronic switch of the fan is triggered to be electrified to enable the fan to work, the target object is sucked into the air channel opening, and the suction air flow can be regulated by the throttler arranged in the air channel; under the cooperative work of the No. 1 steering engine and the No. 2 steering engine, the sucked target object is lifted and rotated above the recovery box, an electronic switch of the fan is triggered to cut off the power, so that the fan stops working, and the target object falls into the recovery box; the searching and recovering operation of the materials is completed once through the process, and the intelligent amphibious light materials can be recovered in a circulating reciprocating mode.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides an amphibious light-duty material recovery intelligent vehicle, includes the automobile body, the automobile body is provided with land advancing mechanism and waters advancing mechanism on the automobile body, its characterized in that: the steering mechanism is arranged on a mounting frame body of the vehicle body, a fan base is mounted on the steering mechanism, and a combination of a fan and a duct hose is mounted through the fan base; the wind power generation device is characterized in that a wind machine base rotary table is installed on the wind machine base, a pitching mechanism, a swinging mechanism and a wind port control mechanism are installed on the wind machine base rotary table and used for controlling a wind channel hose, and the land advancing mechanism, the water area advancing mechanism, the steering mechanism, the wind machine, the pitching mechanism and the swinging mechanism are all controlled through a control system.
2. The amphibious light material recycling intelligent vehicle as claimed in claim 1, wherein: the land advancing mechanism and the water area advancing mechanism are switched by combining a float device steering engine and a float device pull rod.
3. An amphibious light material recycling intelligent vehicle as claimed in claim 1, wherein: and the vehicle body is provided with a recovery box and an image recognizer, and the image recognizer is in data transmission with the control system.
4. An amphibious light material recycling intelligent vehicle as claimed in claim 1, wherein: the steering mechanism comprises a steering engine, a driving wheel, a driven wheel and a belt transmission set, the steering engine drives the driving wheel, the driving wheel is meshed with the driven wheel, the driven wheel drives the belt transmission set, and the belt transmission set is provided with a fan base.
5. An amphibious light material recycling intelligent vehicle as claimed in claim 1, wherein: the pitching mechanism comprises a large arm driving steering engine, a large arm crank, a large arm pull rod and a large arm, the large arm driving steering engine is installed on the fan base turntable, and the large arm driving steering engine drives the large arm through the large arm crank and the large arm pull rod.
6. An amphibious light material recycling intelligent vehicle as claimed in claim 5, wherein: the big arm is installed on the air duct hose through the air opening control platform.
7. The amphibious light material recycling intelligent vehicle as claimed in claim 1, wherein: the swing mechanism comprises a small arm driving steering engine and a small arm, the small arm driving steering engine is installed on the fan base turntable, one end of the small arm is connected with the small arm driving steering engine, and the other end of the small arm is installed on the large arm.
8. An amphibious light material recycling intelligent vehicle as claimed in claim 1, wherein: the tuyere control mechanism comprises a tuyere control piece, a tuyere control rod, a tuyere control platform and a connecting rod; the connecting rod is installed on fan seat carousel, and connecting rod, wind gap control piece, wind gap control lever and wind gap control platform are erection joint in proper order.
9. An amphibious light material recycling intelligent vehicle as claimed in claim 1, wherein: the air duct hose is wound with a spring, and a restrictor is arranged in the air duct hose.
10. An amphibious light material recycling intelligent vehicle as claimed in claim 1, wherein: and a control panel, a remote control receiver and a Beidou positioner are arranged in the control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210755251.5A CN115122838A (en) | 2022-06-30 | 2022-06-30 | Amphibious light material recycling intelligent vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210755251.5A CN115122838A (en) | 2022-06-30 | 2022-06-30 | Amphibious light material recycling intelligent vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN115122838A true CN115122838A (en) | 2022-09-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210755251.5A Pending CN115122838A (en) | 2022-06-30 | 2022-06-30 | Amphibious light material recycling intelligent vehicle |
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| CN (1) | CN115122838A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116495143A (en) * | 2023-03-23 | 2023-07-28 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
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| KR101265288B1 (en) * | 2012-11-29 | 2013-05-16 | (주)다흥 | Oil recovery processing device |
| CN105904921A (en) * | 2016-05-24 | 2016-08-31 | 巢湖学院 | Novel amphibious garbage salvaging device |
| CN109555053A (en) * | 2017-09-27 | 2019-04-02 | 山东交通学院 | A kind of full revolute pair Three Degree Of Freedom greenbelt dust suction sweeping machine device people |
| CN210161858U (en) * | 2019-05-18 | 2020-03-20 | 许耿斌 | Bicycle for land and water all-terrain |
| CN113802630A (en) * | 2021-08-31 | 2021-12-17 | 江苏鸿昌高端装备有限公司 | Amphibious desilting ship driven by crawler belt |
| CN114586533A (en) * | 2022-04-07 | 2022-06-07 | 珠江水利委员会珠江水利科学研究院 | Mechanized harvesting system for ecological restoration plant bodies |
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2022
- 2022-06-30 CN CN202210755251.5A patent/CN115122838A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101265288B1 (en) * | 2012-11-29 | 2013-05-16 | (주)다흥 | Oil recovery processing device |
| CN105904921A (en) * | 2016-05-24 | 2016-08-31 | 巢湖学院 | Novel amphibious garbage salvaging device |
| CN109555053A (en) * | 2017-09-27 | 2019-04-02 | 山东交通学院 | A kind of full revolute pair Three Degree Of Freedom greenbelt dust suction sweeping machine device people |
| CN210161858U (en) * | 2019-05-18 | 2020-03-20 | 许耿斌 | Bicycle for land and water all-terrain |
| CN113802630A (en) * | 2021-08-31 | 2021-12-17 | 江苏鸿昌高端装备有限公司 | Amphibious desilting ship driven by crawler belt |
| CN114586533A (en) * | 2022-04-07 | 2022-06-07 | 珠江水利委员会珠江水利科学研究院 | Mechanized harvesting system for ecological restoration plant bodies |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116495143A (en) * | 2023-03-23 | 2023-07-28 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
| CN116495143B (en) * | 2023-03-23 | 2023-11-03 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
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