Please select the most similar patent number from A, B, C and D. Which number is?
A single-joint water machine fish comprises a housing, a main board cabin (200), a motion control cabin (300), and a battery cabin (400). The outer contour of the housing is in a bionic fish shape. One end of the housing is a front housing (110), and the other end is of a bionic fishtail structure (120). The front end of the main board cabin (200) is mounted at the inner side of the front housing (110) in a matching manner. A lens set (230), an eccentric anti-shake mechanism (240) and a main PCB are disposed in the main board cabin (200). The motion control cabin (300) is connected to the rear end of the main board cabin (200), a three-axis linkage device (330) and a transmission device (340) are disposed in the motion control cabin (300), and the battery cabin (400) is located below the motion control cabin (300). The single-joint water machine fish is specially design, can implement the functions of water depth detection, water quality monitoring, underwater photography, underwater exploration, fish school detection, feeding, drug delivery, underwater engineering acceptance and underwater communication, underwater salvage, underwater rescue, seaborne rescue, sea, river, lake bed surveying and mapping, underwater drilling and flaw detection and the like.
A: A leg-arm-propeller combined underwater robot, comprising: a machine frame (1), an operating mechanism (2), a walking mechanism (3) and a propulsion mechanism (4), wherein the walking mechanism (3) is suitable for implementing the walking of the leg-arm-propeller combined underwater robot; the propulsion mechanism (4) is suitable for implementing the in-water floating movement of the leg-arm-propeller combined underwater robot; the operating mechanism (2) comprises a first mechanical arm (210), a second mechanical arm (220) and a first installation seat (230), and the first installation seat (230) is detachably connected to the machine frame (1); and the first mechanical arm (210) and the second mechanical arm (220) are both rotatably connected to the first installation seat (230), and the rotating center of the first mechanical arm (210) is the same as that of the second mechanical arm (220).
B: Disclosed are a balance stabilization device for a camera and a control system thereof. The balance stabilization device comprises a mainboard chamber (1), a supporting seat (2), a transverse arm (3), a first door-shaped supporting frame and a second door-shaped supporting frame, wherein the tail end of the supporting seat (2) is movably installed on the top end of the mainboard chamber (1), and the front end of the supporting seat (2) faces the direction of the front surface of the mainboard chamber (1), and the supporting seat is perpendicular to the mainboard chamber (1) to form a 7-shape structure; the upper end surface of the supporting seat (2) is movably provided with a mounting seat (4), and the mounting seat (4) can conduct a circumferential motion at 360° relative to the supporting seat (2); the transverse arm (3) is fixedly installed on the upper end surface of the mounting seat (4) and forms an integral whole with the mounting seat (4); each of two ends of the transverse arm (3) is provided with a downwards vertical handle (31), and a controller (32) is provided on the transverse arm (3); the first door-shaped supporting frame comprises a transverse rolling arm (5) and two supporting arms (6), and the second door-shaped supporting frame comprises two carbon tubes (8) and two swinging arms (7); the back surface of the mainboard chamber (1) is provided with a power supply controller (11), and the front surface thereof is provided with a motor; the transverse rolling arm (5) of the first door-shaped supporting frame is movably installed on the mainboard chamber (1) through the motor; and a sensor (10) is provided on the mounting seat (4), the transverse arm (3), the mainboard chamber (1) and the carbon tubes (8) respectively.
C: A detection probe (1000), a transmission device (300), and a detection instrument. The detection probe (1000) comprises a housing (100), a detection mechanism (200), a drive mechanism (400), and a rope transmission mechanism (330). An accommodation space (110) is defined in the housing (100). The detection mechanism (200) is located at one end of the housing (100), and is used to perform a detection function. The drive mechanism (400) is located in the accommodation space (110), and is used to output power. The rope transmission mechanism (330) is located in the accommodation space (110) and comprises a rope (332) and a commutation component (333). The rope (332) is separately connected to the drive mechanism (400) and the detection mechanism (200), and is used to receive the power outputted by the drive mechanism (400), and transmit same to the detection mechanism (200), so as to drive the detection mechanism (200) to move. The commutation component (333) comprises two commutation wheel groups disposed along the extension path of the rope (332); the rope (332) sequentially winds about the two commutation wheel groups to change the transmission direction under the action of the two commutation wheel groups. The detection probe (1000), the transmission device (300), and the detection instrument can meet use requirements.
D: A self-balancing control method and system for an underwater unmanned aerial vehicle, the self-balancing control method for an underwater unmanned aerial vehicle comprising: step a (100): disposing at least one reversible propeller on an underwater unmanned aerial vehicle; step b (200): converting an acting force borne by the underwater unmanned aerial vehicle into a resultant force of at least one degree of freedom of motion by means of a degree-of-freedom of motion control model, wherein the degree of freedom of motion corresponds to a measurable motion control parameter; step c (300): designing a corresponding sub-PID controller according to each degree of freedom of motion; and step d (400): calculating a thrust required for the at least one reversible propeller by means of the thrust distribution matrix. The self-balancing control method and system for an underwater unmanned aerial vehicle can stably and rapidly implement the closed-loop motion control of the underwater unmanned aerial vehicle on five degrees of freedom; the control system is high in coupling degree, the control algorithm is easy to implement, and the control strategies are simple and efficient.
Answer: A