MULTI-JOINT UNDERWATER ROBOT HAVING COMPLEX MOVEMENT FUNCTIONS OF WALKING AND SWIMMING AND UNDERWATER EXPLORATION SYSTEM USING SAME
First Claim
1. A multi-joint underwater robot having a complex movement function, the multi-joint underwater robot comprising:
- a streamlined body;
multi-joint walking legs mounted at left and right sides and a front side of the body and having multiple joints;
a control unit mounted in the body to control a walking state and a swimming state through the multi-joint walking legs;
a walking leg driving unit controlled by the control unit and generating a driving signal to drive the multi-joint walking legs;
a sensing unit mounted in the body to sense a posture of the body and contact of the body with an external object;
a buoyancy sensing unit mounted in the body to sense buoyancy of the body; and
a communication unit to transceive wired and wireless signals with an external device.
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Accused Products
Abstract
Disclosed is an underwater exploration system using a multi-joint underwater robot having a novel complex movement concept in which the multi-joint underwater robot moves through walking or swimming with multi-joint legs closely to a seafloor, differently from a conventional underwater robot to obtain a thrust through a propeller scheme. The underwater exploration system includes the multi-joint underwater robot having the complex movement function according, a depressor, and a mother ship to store data of an underwater state transmitted from the multi-joint underwater robot and to monitor and control a movement direction of the multi-joint underwater robot. The depressor is connected to the mother ship through a primary cable, the multi-joint underwater robot is connected to the depressor through a second cable, and resistance force of the primary cable is applied to the depressor without being transmitted to the multi-joint underwater robot.
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Citations
16 Claims
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1. A multi-joint underwater robot having a complex movement function, the multi-joint underwater robot comprising:
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a streamlined body; multi-joint walking legs mounted at left and right sides and a front side of the body and having multiple joints; a control unit mounted in the body to control a walking state and a swimming state through the multi-joint walking legs; a walking leg driving unit controlled by the control unit and generating a driving signal to drive the multi-joint walking legs; a sensing unit mounted in the body to sense a posture of the body and contact of the body with an external object; a buoyancy sensing unit mounted in the body to sense buoyancy of the body; and a communication unit to transceive wired and wireless signals with an external device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification