The invention discloses an underwater bionic flexible multifunctional resident robot, system and control method.The robot comprises a head sealing cabin, a neck steering cabin, a trunk part, a tail steering cabin and a tail cabin, and the trunk part comprises a trunk main cabin, a plurality of propeller fixing cabins and a trunk steering cabin; steering mechanisms are arranged in the neck steering cabin, the tail steering cabin and all the trunk steering cabins, vertical propellers and horizontal propellers are arranged in the trunk main cabin and all the propeller fixing cabins, and a control center and the like are arranged in the trunk main cabin. The robot is compact in structure, has a bionic bending function, is integrally streamlined, has the density close to that of fluid, can realize autonomous planning of a path and automatic distribution of thrust control in the advancing process of the robot, adapts to complex underwater environment conditions, and effectively meets the load requirements of various related tasks such as through.

    本发明公开了一种水下仿生柔性多功能常驻机器人、系统和控制方法,机器人包括头部密封舱、颈部转向舱、躯干部分、尾部转向舱和尾舱,躯干部分包括躯干主舱、多个推进器固定舱和躯干转向舱,颈部转向舱、尾部转向舱和各个躯干转向舱内均设有转向机构,躯干主舱和各个推进器固定舱均设有垂直推进器和水平推进器,躯干主舱内设有控制中心等。本发明结构紧凑,具有仿生弯曲功能,整体呈现流线型,密度与流体接近,在机器人行进过程中,可实现路径的自主规划和推力控制自动分配,适应水下复杂的环境状况,有效满足多种洞穿等相关任务载荷要求。


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    Title :

    Underwater bionic flexible multifunctional resident robot, system and control method


    Additional title:

    一种水下仿生柔性多功能常驻机器人、系统和控制方法


    Contributors:
    ZAN YINGFEI (author) / YUAN LIHAO (author) / ZHU HAITAO (author) / DING TIANBAO (author) / GAO NING (author) / GUO RUINAN (author)

    Publication date :

    2023-10-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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