Underwater flight method of multi-legged robot

Abstract

The invention relates to an underwater flight method of a multi-legged robot. The multi-legged robot comprises a main body structure, a first left mechanical leg, a second left mechanical leg, a thirdleft mechanical leg, a first right mechanical leg, a second right mechanical leg, a third right mechanical leg, a control system, a battery pack, a propeller and a sliding board. The multi-legged robot drives a motor to rotate through the mechanical legs in order to make the mechanical legs be merged and form a complete hang glider, realizes free switching between a walking mode and an underwaterflying under the action of the propeller and the sliding board, has self-driving adaptability, and can automatically control working in an optimal power-saving mode. The method has the advantages ofwide operating range, strong environmental adaptability and diverse sports modes, near-distance multidirectional observation can be achieved through crawling during the inspection of an offshore platform pedestal, and convenient switching of working places is achieved in the underwater flying mode, so the exploration research in the project are of great significance for the inspection of offshoreplatforms.

Description

technical field [0001] The invention relates to the field of ocean and navigation, and relates to an underwater flight method of a multi-legged robot capable of switching between two modes of walking and underwater flight. Background technique [0002] With the continuous advancement of my country's ocean power strategy and the continuous development of marine resources, the number of offshore oil drilling platforms has also increased rapidly. At present, there are more than 160 offshore platforms in service in my country, and about 30% of the offshore platforms in service are aging. The regular inspection of the cracks and corrosion status of these platform bases can be extended by 5-10 years under the condition of ensuring safety. The annual service period will generate economic benefits of up to several billion yuan. [0003] Existing inspections of offshore platform foundations generally rely on divers, which are costly and less safe. The traditional remote-controlled u...

AI Technical Summary

Problems solved by technology

The submarine terrain is rough and the environment is complex and changeable. There are a lot of silt and rocks. The traditional ROV cannot inspect the submarine facilities at close range and in multiple directions. Due to the low visibility of offshore sea water, the accuracy of ROV inspection is insufficient; The movement performance is easily affected by the intense interaction with the current; there are a lot of marine sediments and marine organisms on the offshore seabed, and the propeller and umbilical cable of the ROV are easily entangled by marine plants such as aquatic plants during the movement, which affects its inspection effect

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