CN106347607A - Underwater wall-climbing robot - Google Patents
Underwater wall-climbing robot Download PDFInfo
- Publication number
- CN106347607A CN106347607A CN201610873439.4A CN201610873439A CN106347607A CN 106347607 A CN106347607 A CN 106347607A CN 201610873439 A CN201610873439 A CN 201610873439A CN 106347607 A CN106347607 A CN 106347607A
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- Prior art keywords
- under water
- robot
- longitudinal
- water according
- climbing robot
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- 239000000463 material Substances 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 5
- 239000000956 alloy Substances 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 44
- 230000009194 climbing Effects 0.000 claims description 33
- 239000000523 sample Substances 0.000 claims description 11
- 238000002604 ultrasonography Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 239000004743 Polypropylene Substances 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 6
- -1 polypropylene Polymers 0.000 claims description 6
- 229920001155 polypropylene Polymers 0.000 claims description 6
- 239000003086 colorant Substances 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims description 4
- 238000005520 cutting process Methods 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 4
- 238000003913 materials processing Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 210000003205 muscle Anatomy 0.000 claims 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 abstract 1
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an underwater wall-climbing robot which comprises a main framework, a control device, a travelling mechanism and an adsorbing mechanism, wherein the main framework comprises two side guide plates and two longitudinal guide plates; the outer sides of the four guide plates are arc-shaped; the two side guide plates are separately mounted on two side beams; the two longitudinal guide plates are separately mounted on two front beams; two longitudinal guide parts are mounted at the upper ends of the front and the back of the robot, and the outer sides of the two longitudinal guide parts are arc-shaped; the two longitudinal guide parts are separately mounted on the two side beams; the two front beams are fixedly arranged on a middle supporting beam, and the two side beams are fixedly arranged on a side supporting beam; and the middle supporting beam and the side supporting beam are formed by processing an anti-rust aluminum alloy material, and the middle supporting beam and the side supporting beam are fixed together to form a cross shape. The main framework is manufactured from a light material, so that integral weight of the robot is effectively reduced; and compared with a conventional framework type underwater robot, the underwater wall-climbing robot has a more compact structure and lighter weight.
Description
Technical field
The present invention relates to robot field, more particularly, to one kind climbing robot under water.
Background technology
Underwater robot is the important terminal unit of underwater performance, is divided into floating type, creeping-type, combined type by action modes
Deng.Creeping-type underwater robot can carry the operational modules such as detection, cleaning, boring, cutting and carry out underwater operation.At present under water
Climbing robot complex structure, and it is dumb to walk.Adopt the suction type such as magnetic force, vacuum in terms of absorption, these absorption
Mode does not adapt to the adsorbed face of underwater complex environment and different materials.
Content of the invention
Technical problem
In view of this, the technical problem to be solved in the present invention is, existing underwater robot structure is complicated, dumb, absorption
Function is easily affected by the external environment.
Solution
In order to solve above-mentioned technical problem, according to one embodiment of the invention, there is provided one kind climbing robot under water, bag
Include: main frame, control device, walking mechanism, adsorbing mechanism, described main frame includes: two lateral deflectors are distributed in machine
People both sides medium position, two longitudinal deflectors are distributed in the medium position of side before and after robot, are in arc outside four deflectors
Shape, described two lateral deflectors are separately mounted to described two side rail outer, and two longitudinal deflectors are separately mounted to two
Outside front-axle beam；Two longitudinal conducting elements, described two longitudinal conducting elements are arranged on the upper end before and after robot, and outside is curved,
Described two longitudinally stream parts are separately mounted on described two curb girders, are fixed with lid between described two longitudinal conducting elements；Institute
State two front-axle beams to be fixed in middle support beam, described two curb girders are fixed in the support beam of side；Described middle support beam and collateral support
Beam is formed using rust-preventing aluminum alloy materials processing, and both are fixed together formation cross；Four deflectors and the holding rod of handle
All processed using polypropylene material, front-axle beam, curb girder, longitudinal conducting element are all processed using glass microballoon buoyant material.
For above-mentioned climbing robot under water, in a kind of possible implementation, described main frame also includes: two one or two
Handss, the holding rod of described handle is oriented parallel to the front and back axis direction of robot, is held within two curb girders below；
The holding rod of described two handles is processed using polypropylene material, and two holding rods are higher than all described upper lid.
For above-mentioned climbing robot under water, in a kind of possible implementation, described two lateral deflectors, two
Longitudinal deflector bottom is mounted on ultrasound probe.
For above-mentioned climbing robot under water, in a kind of possible implementation, described two lateral deflectors, two
Longitudinal deflector bottom all has three through holes, and three through holes are in that intermediate symmetry is distributed, each in the hole be fitted with one ultrasonic
Ripple is popped one's head in.
For above-mentioned climbing robot under water, in a kind of possible implementation, on described two longitudinal deflectors all
Have photographic head installing hole, hole surrounding is opened chamfering and is provided with photographic head to increase photographic head visual angle, in the hole.
For above-mentioned climbing robot under water, in a kind of possible implementation, in described two lateral deflectors
Two display lamps are provided with one or two, two display lamps are in red green two kinds of colors, rely on two kinds of colors to replace flicker
The information of Frequency Transfer robot；Two longitudinal deflector 11 both sides all have Long Circle illumination installing hole, and in the hole is provided with highlighted
Degree illuminating lamp.
For above-mentioned climbing robot under water, in a kind of possible implementation, described control device includes two sealings
Electric cabinet, is arranged on two curb girders, can be communicated with host computer；Described sealing electric cabinet outer surface be located at both sides deflector it
Interior.
For above-mentioned climbing robot under water, in a kind of possible implementation, it is arranged on four deflector in the holes
Device is below baffle surface height.
For above-mentioned climbing robot under water, in a kind of possible implementation, described walking mechanism is included positioned at institute
Show four groups of road wheels and the respective control module below two curb girder rear and front ends.
For above-mentioned climbing robot under water, in a kind of possible implementation, each control module includes walking and drives
Dynamic model block, steering module, described hoofing part module controls walking wheel speed and rotating, and steering module controls road wheel independent
Turn to.
For above-mentioned climbing robot under water, in a kind of possible implementation, described adsorbing mechanism includes propeller
The back of the body pushes away, and is distributed in in four groups of road wheel rectangular areas between the region supporting, has covered and push away with the propeller back of the body on described
The corresponding perforate of position, size, the height of described propeller is less than the height of perforate.
For above-mentioned climbing robot under water, in a kind of possible implementation, described middle support beam and side support beam
On be provided with standby screwed hole, for install detection, cleaning, boring, cutting function module.
For above-mentioned climbing robot under water, in a kind of possible implementation, described buoyant member is included positioned at institute
State two front buoyancy pieces below two front-axle beams, two side buoyancy pieces below two curb girders, front buoyancy piece, side buoyancy piece all make
Processed with glass microballoon buoyant material.
For above-mentioned climbing robot under water, in a kind of possible implementation, described two side buoyancy piece bottom is opened
There is installing hole, bottom ultrasonic transducer is installed in each hole.
Beneficial effect
By described main frame is made using light material, effectively mitigate robot overall weight, increased robot and exist
Buoyancy in water, needs complicated buoyant device compared to traditional robot, simplifies robot overall structure, more step up
Gather.
According to below with reference to the accompanying drawings, to detailed description of illustrative embodiments, the further feature of the present invention and aspect will become
Clear.
Brief description
Comprise in the description and constitute the accompanying drawing of a part of description and description together illustrates the present invention's
Exemplary embodiment, feature and aspect, and for explaining the principle of the present invention.
Fig. 1 illustrates the overall structure diagram of the present invention.
Fig. 2 illustrates the earth construction schematic diagram of the present invention.
Reference numerals list
1. propeller the back of the body push away cover on 2. 3. handle 4. sealing lateral deflector 6. display lamp 7. of electric cabinet 5. walk
Take turns longitudinal conducting element 13. side of the longitudinal deflector 12. of 8. steering module 9. illumination installing hole 10. photographic head installing hole 11.
Buoyancy piece 17. longitudinal ultrasonic ripple probe 18. side buoyancy piece 19. bottom to before ultrasound probe 14. curb girder 15. front-axle beam 16.
Support beam 21. hoofing part module 22. side support beam in portion's ultrasound probe 20.
Specific embodiment
Describe various exemplary embodiments, feature and the aspect of the present invention below with reference to accompanying drawing in detail.Identical in accompanying drawing
Reference represent the same or analogous element of function.Although the various aspects of embodiment shown in the drawings, remove
Non-specifically points out it is not necessary to accompanying drawing drawn to scale.
Special word " exemplary " means " as example, embodiment or illustrative " here.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
In addition, in order to better illustrate the present invention, giving numerous details in specific embodiment below.
It will be appreciated by those skilled in the art that not having some details, the present invention equally can be implemented.In some instances, for
Method well known to those skilled in the art, means, element and circuit are not described in detail, in order to highlight the purport of the present invention.
Fig. 1-2 illustrates the structural representation of climbing robot under water according to an embodiment of the invention.As shown in Figure 1, 2,
This robot specifically includes that main frame, control device, walking mechanism, adsorbing mechanism, buoyant member.
Wherein, described main frame includes: two handles 3, two handles 3 are symmetrically distributed in the both sides of robot, for personnel
Lift to move robot uses；The holding rod of handle 3 is oriented parallel to the axis of robot fore-and-aft direction, and two handles 3 are held within it
On two curb girders 14 of lower section, two holding rods are higher than all described upper lid 2.Two lateral deflectors 5 are distributed in robot both sides
Portion position, two longitudinal deflectors 11 are arranged on the centre position before and after robot, and four deflectors are all using polypropylene material
Process, outside is curved, both can reduce resistance to water-flow, the impact injury of robot side can be born again.Two is lateral
Deflector 5 is arranged on outside two curb girders 14, and two longitudinal deflectors 11 are arranged on outside two front-axle beams 15.Two longitudinal conducting elements 12,
Two longitudinal conducting elements 12 are arranged on the upper end before and after robot, and outside is curved, the resistance of water when can reduce robot ambulation
Power, two longitudinally flow part 12 is arranged on two curb girders 14.It is fixed with lid 2 in the middle of two longitudinal conducting elements 12, have out in the middle of upper lid 2
String holes, is available for cable and stretches out from robot interior.Two front-axle beams 15 are fixed in middle support beam 20, and two curb girders 14 are fixed on collateral support
On beam 22.Middle support beam 20 and side support beam 22 are formed using rust-preventing aluminum alloy materials processing, and both are installed together with screw
Form cross, as the overall connection of robot and support.
Four deflectors are all processed using polypropylene material, and middle support beam 20 and side support beam 22 adopt rustproof aluminum alloy to close
Golden materials processing forms, and front-axle beam 15, the longitudinal conducting element 12 of curb girder 14, two are all processed using glass microballoon buoyant material.Have
Effect mitigates robot overall weight, increased buoyancy in water for the robot, makes robot integrally keep micro- positive buoyancy in water
State.
Both sides all have three through holes to deflector 5 bottom, and three through holes are in that intermediate symmetry is distributed, and each in the hole is installed
There is a lateral ultrasound probe 13；Two longitudinal deflector 11 bottoms all have three through holes, and three through holes divide in intermediate symmetry
Cloth, each in the hole is fitted with a longitudinal ultrasonic ripple probe 17.Lateral ultrasound probe 13 and longitudinal ultrasonic ripple probe 17 can
Separately detect lateral and fore-and-aft direction barrier, collide during wall robot walking.
Both sides are provided with two display lamps 6 on one of deflector 5 or two, and two display lamps are in red green two kinds of face
Color, can replace the information of the Frequency Transfer robot of flicker by the difference of two kinds of colors.Two longitudinal deflector 11 both sides are equal
Have Long Circle illumination installing hole 9, in the hole is provided with high-brightness lighting lamp.Photographic head peace is all had in the middle of two longitudinal deflectors 11
Dress hole 10, hole surrounding opens chamfering to increase photographic head visual angle, and chamfering can be 30 °.In front and back two photographic head be separately mounted to two indulge
To in the photographic head installing hole 10 in the middle of deflector 11, pass to host computer for shooting picture under water.It is arranged on four deflectors
Interior device is below baffle surface height, prevents from coming to harm during external impact deflector.
Be provided with standby screwed hole in described middle support beam 20 and side support beam 22, can with additional detected, cleaning, boring,
The functional modules such as cutting.
Wherein, described control device includes two sealing electric cabinets 4, is separately mounted on two curb girders 14, and each one of left and right is in
It is symmetrically distributed in robot both sides.Be provided with inside electric cabinet robot waterproof in need electronic device, including master control electricity
Road plate, electric machine controller, electric power source distribution device etc., can be communicated with host computer.It is provided with leakage inspector in sealing electric cabinet 4,
If leak can be reported to the police to host computer in case.
Wherein, described walking mechanism includes four groups of road wheels 7 and respective control module, and described four groups of road wheels 7 are respectively
Positioned at the lower section of described two curb girder 14 rear and front ends, each control module includes hoofing part module 21, steering module 8.Institute
State hoofing part module 21 and include motor, decelerator, leakage inspector etc., it is possible to achieve the independence of rotating speed and rotating
Control.Steering module 8 includes motor, decelerator, leakage inspector etc., it is possible to achieve each ± 90 ° of independent steerings.Four
Group road wheel independent control, and structure is simple, turns to flexibly.
Wherein, described adsorbing mechanism includes four groups of propellers back of the body and pushes away 1, be distributed in four groups of road wheels for the region that supports it
Between rectangle four apex, or be located at rectangular area four edges centre.It is respective that each group of propeller back of the body pushes away 1 connection
Motor and individually controlled, during climbing wall, stirs current by four groups of propeller rotational and produces perpendicular to wall
Thrust, makes robot adsorb and creeps on wall.Cover on described and have on 2 and propeller back of the body push position, corresponding the opening of size
Hole, the height of described propeller is less than the height of perforate.
Wherein, described buoyant member includes the front buoyancy piece 16 of two front-axle beam 15 lower section, the side buoyancy piece of two curb girder 14 lower section
18, for increasing buoyancy in water for the robot.Both sides buoyancy piece 18 bottom has installing hole, is provided with bottom and surpasses in each hole
Acoustic wave transducer 19, for the distance between robot measurement chassis and adsorption plane.Front buoyancy piece 16, side buoyancy piece 18 all use
Glass microballoon buoyant material processes, and effectively mitigates robot overall weight, increased buoyancy in water for the robot, make machine
Device people integrally keeps micro- positive buoyancy state in water.
So, by described main frame is made using light material, effectively mitigate robot overall weight, increased machine
Buoyancy in water for the people, compared to traditional frame-type robot, compacter on overall solution structure, weight is lighter.And
By arranging multiple ultrasonic transducer detecting obstacles things, collide, in addition, baffle surface is high during wall robot walking
Degree, higher than the design of internal part, handling position, handle height and road wheel, can prevent robot interior during external impact
Part comes to harm, and increased safety.Simple using four groups of individually controlled walking wheel constructions, turn to flexibly, beneficial in water
Walk in lower complex environment.Four groups of propeller back ofs the body push away during wall is climbed by robot, so that robot is adsorbed and swash in wall
OK, it is more suitable for the environment of underwater complex compared to suction types such as magnetic force, vacuum.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by described scope of the claims.
Claims (14)
1. climbing robot under water, comprising: main frame, control device, walking mechanism, adsorbing mechanism it is characterised in that
Described main frame includes: two lateral deflectors (5), two longitudinal deflectors (11), described two lateral deflectors (5)
It is distributed in robot both sides medium position, two longitudinal deflectors (11) are distributed in the medium position of side before and after robot, four
Curved outside deflector, described two lateral deflectors (5) are separately mounted to outside two curb girders (14), two longitudinal water conservancy diversion
Plate (11) is separately mounted to outside two front-axle beams (15)；Two longitudinal conducting elements (12), described two longitudinal conducting element (12) peaces
It is contained in the upper end before and after robot, outside is curved, described two longitudinally streams parts (12) are separately mounted to described two curb girders
(14), on, between described two longitudinal conducting elements (12), it is fixed with lid (2)；Described two front-axle beams (15) are fixed on middle support beam
(20), on, described two curb girders (14) are fixed in side support beam (22)；Described middle support beam (20) and side support beam (22) are adopted
Formed with rust-preventing aluminum alloy materials processing, both are fixed together formation cross；Four deflectors are all using polypropylene material
Process, front-axle beam (15), curb girder (14), longitudinal conducting element (12) are all processed using glass microballoon buoyant material.
2. climbing robot under water according to claim 1 is it is characterised in that described main frame also includes: two handles
(3), the holding rod of described handle (3) is oriented parallel to the front and back axis direction of robot, is held within two sides below
On beam (14)；The holding rod of described two handles (3) is processed using polypropylene material, and two holding rods are higher than all described upper lid
(2).
3. climbing robot under water according to claim 1 it is characterised in that described two lateral deflector (5), two
Longitudinal deflector (11) bottom is mounted on ultrasound probe.
4. climbing robot under water according to claim 3 it is characterised in that described two lateral deflector (5), two
Longitudinal deflector (11) bottom all has three through holes, and three through holes are in that intermediate symmetry is distributed, and each in the hole is fitted with one
Ultrasound probe.
5. climbing robot under water according to claim 1 is it is characterised in that described two longitudinal deflector (11) is upper all
Have photographic head installing hole (10), hole surrounding is opened chamfering and is provided with photographic head to increase photographic head visual angle, in the hole.
6. climbing robot under water according to claim 1 is it is characterised in that in described two lateral deflector (5)
Two display lamps (6) are provided with one or two, two display lamps are in red green two kinds of colors, rely on two kinds of colors to replace sudden strain of a muscle
The information of bright Frequency Transfer robot；Two longitudinal deflector 11 both sides all have Long Circle illumination installing hole (9), and in the hole is installed
There is high-brightness lighting lamp.
7. climbing robot under water according to claim 1 it is characterised in that described control device to include two sealings automatically controlled
Case (4), is separately mounted on two curb girders (14), can be communicated with host computer；The outer surface of described sealing electric cabinet (4) is located at two
Within the deflector of side.
8. the climbing robot under water according to any one of claim 4-6 is it is characterised in that be arranged on four water conservancy diversion plate holes
Interior device is below baffle surface height.
9. climbing robot under water according to claim 1 is it is characterised in that described walking mechanism is included positioned at described two
Four groups of road wheels (7) below individual curb girder (14) rear and front end and respective control module.
10. climbing robot under water according to claim 9 is it is characterised in that each control module includes hoofing part
Module (21), steering module (8), described hoofing part module (21) controls walking wheel speed and rotating, and steering module (8) is controlled
Road wheel independent steering processed.
11. climbing robots under water according to claim 9 or 10 it is characterised in that
Described adsorbing mechanism includes the propeller back of the body and pushes away (1), is distributed in four groups of road wheels for the rectangle region between the region supporting
In domain, lid (2) on described has and pushes away the corresponding perforate of the position of (1), size, the height of described propeller with the propeller back of the body
Height less than perforate.
12. climbing robots under water according to claim 11 push away (1), often it is characterised in that including four groups of propeller back ofs the body
One group of propeller back of the body pushes away (1) and connects respective motor and individually controlled；Described four groups of propellers back of the body pushes away (1) and is located at rectangle region
Four summits in domain, or it is located at the centre of rectangular area four edges.
13. climbing robots under water according to claim 1 are it is characterised in that described middle support beam (20) and collateral support
Beam is provided with standby screwed hole on (22), for installing detection, cleaning, boring, cutting function module.
14. climbing robots under water according to claim 1 are it is characterised in that described buoyant member is included positioned at described
Two side buoyancy pieces (18) below two below two front-axle beams (15) front buoyancy pieces (16), two curb girders (14), described two
Individual side buoyancy piece (18) bottom has installing hole, is provided with bottom ultrasound probe (19) in each hole；Front buoyancy piece (16), side
Buoyancy piece (18) is all processed using glass microballoon buoyant material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610873439.4A CN106347607B (en) | 2016-10-08 | 2016-10-08 | Underwater climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610873439.4A CN106347607B (en) | 2016-10-08 | 2016-10-08 | Underwater climbing robot |
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| CN106347607A true CN106347607A (en) | 2017-01-25 |
| CN106347607B CN106347607B (en) | 2018-01-05 |
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| CN201610873439.4A Expired - Fee Related CN106347607B (en) | 2016-10-08 | 2016-10-08 | Underwater climbing robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN107010183A (en) * | 2017-03-29 | 2017-08-04 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of underwater structure surface clean detecting system based on buoyancy compartment |
| CN108246681A (en) * | 2018-01-17 | 2018-07-06 | 西宁泰里霍利智能科技有限公司 | Underwater wall surface operation robot |
| CN108423139A (en) * | 2017-02-15 | 2018-08-21 | 深海生态股份有限公司 | Check vehicle |
| CN108674512A (en) * | 2018-06-04 | 2018-10-19 | 北京航空航天大学 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
| CN109187564A (en) * | 2018-10-25 | 2019-01-11 | 河南城建学院 | A kind of sleeve configuration structures real-time deformation monitoring system |
| CN109733570A (en) * | 2019-01-29 | 2019-05-10 | 山东大学 | A kind of running on wheels-thrust by airscrew underwater cleaning robot |
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| CN113562133A (en) * | 2021-09-22 | 2021-10-29 | 北京史河机器人科技有限公司 | Underwater detection robot |
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| CN108423139B (en) * | 2017-02-15 | 2021-12-28 | 深海生态股份有限公司 | Inspection vehicle |
| CN108423139A (en) * | 2017-02-15 | 2018-08-21 | 深海生态股份有限公司 | Check vehicle |
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN106938692B (en) * | 2017-03-04 | 2018-11-20 | 浙江大学 | Non-contact negative-pressure adsorption climbs wall detection device under water |
| CN107010183B (en) * | 2017-03-29 | 2019-01-18 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of underwater structure surface clean detection system based on buoyancy compartment |
| CN107010183A (en) * | 2017-03-29 | 2017-08-04 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of underwater structure surface clean detecting system based on buoyancy compartment |
| WO2019128521A1 (en) * | 2017-12-27 | 2019-07-04 | 杭州高越科技有限公司 | Underwater cleaning robot and crawling method thereof, motion path planning method and system |
| CN108246681A (en) * | 2018-01-17 | 2018-07-06 | 西宁泰里霍利智能科技有限公司 | Underwater wall surface operation robot |
| CN108674512A (en) * | 2018-06-04 | 2018-10-19 | 北京航空航天大学 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
| CN109187564A (en) * | 2018-10-25 | 2019-01-11 | 河南城建学院 | A kind of sleeve configuration structures real-time deformation monitoring system |
| CN109733570A (en) * | 2019-01-29 | 2019-05-10 | 山东大学 | A kind of running on wheels-thrust by airscrew underwater cleaning robot |
| CN110005009A (en) * | 2019-05-06 | 2019-07-12 | 浙江君泰生态环保科技有限公司 | A kind of submersible type dredging robot and its dredging method |
| CN113562133A (en) * | 2021-09-22 | 2021-10-29 | 北京史河机器人科技有限公司 | Underwater detection robot |
| CN114670217A (en) * | 2022-04-14 | 2022-06-28 | 广东海洋大学 | Residual bait excrement cleaning robot |
| CN114670217B (en) * | 2022-04-14 | 2023-12-08 | 广东海洋大学 | Incomplete bait excrement and urine clearance robot |
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