Abstract: The present invention provides a hybrid-power-driven underwater robot, including a robot body and a releasing and recovering device, wherein a first transmission cavity is formed in the releasing and recovering device, a seawater removing mechanism and an electric take-up reel are arranged inside the first transmission cavity, a cable is arranged on the electric take-up reel, the cable extends out of the first transmission cavity, and the robot body is fixedly connected to one end of the cable; and a tail fin is movably connected to the robot body, an acceleration mechanism is further arranged on the robot body, a second transmission cavity is formed in the robot body, a driving mechanism for driving the tail fin and the acceleration mechanism is arranged inside the second transmission cavity, and the driving mechanism can drive the tail fin separately or drive the acceleration mechanism separately.

Abstract: The present invention discloses a modular underwater robot and a control method therefor. The modular underwater robot includes support plates, a first chamber, a second chamber, and a power assembly, where the supporting plates are stacked, and front end edges and rear end edges of the support plates are respectively provided with a first hollow portion and a second hollow portion; the first chamber is disposed in the first hollow portion; the second chamber is disposed in the second hollow portion, and the second chamber and the first chamber are in a same horizontal position; and the power assembly includes fixed vector thrusters and vertical thrusters. As such, the fixed vector thrusters can enable the modular underwater robot to move forward, backward, or rotatably, so that flexibility of the modular underwater robot can be improved.

Abstract: An underwater detection device includes a surface drive boat and an unmanned underwater vehicle. The surface drive boat includes: a hull; transverse attitude-stabilizing thrusters and orbit vectored thrusters arranged at the bottom of the hull; a control box arranged on the hull and electrically connected with the transverse attitude-stabilizing thrusters and the orbit vectored thrusters; a cable and a cable winding assembly arranged on the hull, the control box being connected with the unmanned underwater vehicle by the cable, the cable winding assembly being electrically connected with the control box; and a positioning assembly arranged on the hull and electrically connected with the control box.

Abstract: A modular mechanical arm of an underwater pile foundation structure includes a modular interface disposed at one end of the transmission arm rod, a mechanical arm connecting part disposed at the other end of the transmission arm rod. The mechanical arm connecting part is separately provided with two arm frames, each of the arm frames comprises an inner arm frame and an outer arm frame, the inner arm frame and the outer arm frame are coupled by a joint, and a soft moving and cleaning part is disposed on an inner side of each of the arm frames; the modular interface is coupled with an underwater UAV interface to transmit current and a control signal, a waterproof steering gear is built in the transmission arm rod to receive the control signal.

Abstract: An underwater robot based on a variable-size auxiliary drive and a control method thereof includes a variable-size auxiliary drive module and a main control system. The variable-size auxiliary drive module includes a first variable-size silo, at least two first variable-size units and at least two first gasbags. The first variable-size silo has a first accommodating space with at least two first accommodating subspaces. Each of the first variable-size units includes a first micro push rod motor, a first push rod, a first push plate and a first gas guide tube. The first micro push rod motor, the first push rod and the first push plate are accommodated in the corresponding first accommodating subspace. The first push rod is fixed to the first push plate. one of the first gas guide tubes correspondingly communicates with one of the first accommodating subspaces and one of the first gasbags.

Abstract: An energy harvesting device based on wave energy comprises: a box body; a swing rod hinged with the box body, wherein one end of the swing rod extends into the box body, and a float is fixed at the other end of the swing rod; a base layer disposed inside the box body and provided with a plurality of piezoelectric patches in a length direction; and an energy transmission assembly fixed inside the box body and located between the swing rod and the base layer, one side of the energy transmission assembly is connected with one end of the swing rod extending into the box body, and the other side of the energy transmission assembly is in transmission connection with the base layer, wherein the energy transmission assembly converts the swinging of the swing rod into squeezing to the base layer.

Abstract: An underwater robot based on a variable-size auxiliary drive and a control method thereof includes a variable-size auxiliary drive module and a main control system. The variable-size auxiliary drive module includes a first variable-size silo, at least two first variable-size units and at least two first gasbags. The first variable-size silo has a first accommodating space with at least two first accommodating subspaces. Each of the first variable-size units includes a first micro push rod motor, a first push rod, a first push plate and a first gas guide tube. The first micro push rod motor, the first push rod and the first push plate are accommodated in the corresponding first accommodating subspace. The first push rod is fixed to the first push plate. one of the first gas guide tubes correspondingly communicates with one of the first accommodating subspaces and one of the first gasbags.

Abstract: A global and local binary pattern image crack segmentation method based on robot vision comprises the following steps: enhancing a contrast of an acquired original image to obtain an enhanced map; using an improved local binary pattern detection algorithm to process the enhanced map and construct a saliency map; using the enhanced map and the saliency map to segment cracks and obtaining a global and local binary pattern automatic crack segmentation method; and evaluating performance of the obtained global and local binary pattern automatic crack segmentation method. The present application uses logarithmic transformation to enhance the contrast of a crack image, so that information of dark parts of the cracks is richer. Texture features of a rotation invariant local binary pattern are improved. Global information of four directions is integrated, and the law of universal gravitation and gray and roundness features are introduced to correct crack segmentation results, thereby improving segmentation accuracy.

Abstract: A multifunctional light-duty soft robot includes paired wheel power mechanisms, soft contact mechanisms, buffer spring mechanisms and a middle frame deformation mechanism. Each of the paired wheel power mechanisms includes a wheel frame and a wheel rotatably connected thereto. The wheel frame is internally provided with a power mechanism connected with a wheel axis of the wheel. Each of the soft contact mechanisms includes a flexible cantilever and a soft transmission belt. The two paired wheel power mechanisms are respectively arranged at two ends of each of the flexible cantilevers. The wheel on one of the paired wheel power mechanisms is connected with the wheel on the other of the paired wheel power mechanisms. The buffer spring mechanisms are arranged between the wheel frames and the wheels. The middle frame deformation mechanism includes a connection unit and two movable units rotatably connected to the connection unit respectively.

Abstract: The present invention discloses a device carrying platform based on an underwater robot. The device carrying platform comprises a mounting rack and more than two mounting seats. The mounting rack comprises a mounting plate and more than two mounting columns fixed to the bottom of the mounting plate, the mounting plate is provided with a plurality of mounting holes, the mounting plate is hinged with a protective screen, the protective screen is provided with an opening, and the opening is hinged with a screen door. The plurality of mounting seats arranged on the mounting rack can be used for mounting devices and instruments of various models, and a first butting part and a second butting part in a mounting groove are matched with each other, so that devices and instruments needed to be mounted are fixed.

Abstract: The invention discloses a method for predicting a residual strength of a composite material after impact. The method includes: acquiring a first frequency value of a composite material to be tested after impact damage; determining a first frequency change rate according to an initial frequency value and the first frequency value of the composite material to be tested; inputting the first frequency change rate to a pre-constructed residual strength prediction model to predict a first residual strength of the composite material to be tested; the first frequency value and the initial frequency value being obtained by a modal test. Further, residual strength prediction may be performed on the composite material in service, the position and the size of impact damage, the impact energy, the shape and quality of the impact object are not required to be determined, which avoids a rigidity test of the composite material in service.

Abstract: The present invention discloses a device carrying platform based on an underwater robot. The device carrying platform comprises a mounting rack and more than two mounting seats. The mounting rack comprises a mounting plate and more than two mounting columns fixed to the bottom of the mounting plate, the mounting plate is provided with a plurality of mounting holes, the mounting plate is hinged with a protective screen, the protective screen is provided with an opening, and the opening is hinged with a screen door. The plurality of mounting seats arranged on the mounting rack can be used for mounting devices and instruments of various models, and a first butting part and a second butting part in a mounting groove are matched with each other, so that devices and instruments needed to be mounted are fixed.

Abstract: A flexible underwater robot, a control method and a device is provided with at least one movable joint and a control module. A flexible joint module of the movable joint comprises a first connecting plate, a second connecting plate, a first spring, several second springs, several third springs, several first pulling ropes, several second pulling ropes and a pulling module. The first spring, the second springs and the third springs are arranged from inside to outside in sequence with gradually decreased rigidities correspondingly to form a gradual rigidity structure, so that it is more flexible to adjust a posture. When the robot is impacted, it may absorb and release energy to ensure the integrity of the flexible joint module, so that the stability is improved.

Abstract: A vibration power generation device, comprising: three power generation mechanisms with energy harvesting directions the same as three directions of three-dimensional coordinates, each of the power generation mechanisms including a piezoelectric power generation part and a magnetoelectric power generation part, wherein the piezoelectric power generation part includes two M-shaped structural beams and a first permanent magnet fixed in the middle of each of the M-shaped structural beams; and the magnetoelectric power generation part includes two magnetoelectric power generation components that are arranged on both sides of the piezoelectric power generation part and are in the same axial direction as the two first permanent magnets, and each of the magnetoelectric power generation components includes a second permanent magnet, a spring with one end connected to the second permanent magnet, a sleeve that houses the second permanent magnet in a cavity, and a coil wound on a surface of the sleeve.

Abstract: The invention discloses a binocular robot for bridge underwater detection based on 5G communication. The robot includes a body, a base, a power arm, a video collection component, a communication component and a power component. The underwater part of the bridge may be collected in the form of a video by the configured video collection component, and the robot may be driven by the power component to move underwater. Driven by a first motor, a binocular camera may rotate to observe various orientations underwater, and meanwhile may drive a cleaning component coordinated with an electric top block to wipe the lens of the binocular camera, so that the video information may be collected clearly underwater. Finally, the video information may be transmitted to a worker on the water through the communication component to achieve the effect of remote detection, which saves the underwater detection cost and improves detection efficiency.

Abstract: The present invention discloses a support for providing an in-plane or out-of-plane elastic torsional restraint and an experimental device including the same. The support includes a base formed with two vertical support lugs extending upwards; an inclined strut formed with two swinging portions, where the swinging portions are hingedly connected to the vertical support lugs in pairs; an outer frame part, disposed between the two vertical support lugs, where left and right side portions of the outer frame part are respectively hingedly connected to the vertical support lugs; an inner frame part, disposed inside the outer frame part, a first elastic part, connected between the swinging portion and the outer frame part, to provide a rotational restraint force on the outer frame part; and a second elastic part, connected between the outer frame part and the inner frame part, to provide a rotational restraint force on the inner frame part.