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Bionic underwater chelonian robot

A technology of underwater robots and bionic sea turtles, which is applied to underwater ships, underwater operating equipment, motor vehicles, etc., can solve problems such as inability to realize heave motion, non-adjustability, etc., and achieve autonomous navigation, small size Lightweight, noise reduction effect

Inactive Publication Date: 2008-03-05
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The movement of this robot turtle is a fixed-period mechanical stroke, which is non-adjustable and cannot achieve heave movement

Method used

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  • Bionic underwater chelonian robot
  • Bionic underwater chelonian robot
  • Bionic underwater chelonian robot

Examples

Experimental program
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Embodiment 1

[0022] Embodiment 1: (Some dotted boxes in the drawings can be marked and described as a component, and explain that there are many ways to solve these components or units in the prior art, otherwise it may be considered insufficient disclosure. )

[0023] With reference to Figures 1-5, this embodiment includes a turtle-shaped streamlined shell, a sensing and testing unit installed on the front head and shoulders of the turtle-shaped streamlined shell, a control drive unit in the front chest, a power storage unit in the lower abdomen, and a communication unit at the rear and tail. The system unit, the forelimb movement unit and the hindlimb movement unit, the sensor test unit consists of sonar detectors, underwater cameras, and multi-beam light sources, the control drive unit consists of executive level and coordination level controllers, and the power reserve unit includes motor drives The power supply module and the controller power supply module, the communication system un...

Embodiment 2

[0032] Combined with Fig. 3, Fig. 4 and Fig. 5, the basic structure of the bionic sea turtle robot in this embodiment is the same as in Embodiment 1, and the heave motion is converted on the basis of horizontal linear motion. and the hind limbs maintain a gliding state at a certain deflection angle. Taking the robot’s upward swimming as an example, the implementation plan of the asymmetrical hydrofoil swimming method of the forelimb is: according to the operation sequence of the motors in the hydrofoil method mentioned in the previous paragraph, when the front edge of the forelimb plate 1 sinks and flaps to the rear lower end, Motor 22 continues to start clockwise, rotates 180 ° and forelimb board 1 is forwarded to the front upper end of its motion. Motor 12 starts then, and still carries out slapping water backward and downward, and omits the upward and backward slapping of water of forelimb, and this is equivalent to an asymmetrical hydrofoil method swimming cycle. The foll...

Embodiment 3

[0034]With reference to Fig. 3, Fig. 4 and Fig. 5, the basic structure of the bionic sea turtle robot of this embodiment is the same as that of Embodiment 1, and the turning motion is also converted on the basis of horizontal linear motion. Continue hydrofoil swimming, and the hind limbs act as steering rudders; while when a small turning radius is required, the forelimbs perform single-limb hydrofoil swimming, and the hind limbs act as steering rudders. The hydrofoil method swimming of forelimb sees above; And the steering rudder effect of hindlimb, take the right hindlimb as example, its specific implementation scheme is: take the gliding state when advancing in a straight line as the initial position, when needs to turn right, the motor 41 stop after clockwise rotation 90 °, make hind limb board 15 transfer to vertical state from horizontal state. Then motor 17 starts counterclockwise, makes hind limb board 15 turn rightwards from the rearmost end, and the angle of rotation...

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Abstract

The present invention provides one kind of turtle-shaped bionic underwater robot, which includes one turtle-shaped casing, one sensing and measuring unit in the head and shoulder part, one control and drive unit in the chest, one power source unit in the abdomen, one communication system unit in the tail, one front limb moving unit and one back limb moving unit. The sensing and measuring unit consists of one sonar detector, one underwater CCD camera, and multiple light sources; the control and drive unit consists of one executing controller and one coordinating controller; the power source unit includes one motor driving power module and controller power module; and the communication system unit consists of one communication system module and one external antenna. The present invention has the advantages of high flexibility, low power consumption, one noise, great traveling range, etc.

Description

(1) Technical field [0001] The invention relates to a bionic underwater robot, in particular to an autonomous underwater robot imitating the movement of a sea turtle. (2) Background technology [0002] With the depletion of non-renewable land resources, the ocean has become the precious wealth and the last space for human sustainable development because of its rich biological and mineral resources. Underwater robots are an important tool for human beings to develop and utilize marine resources. They can be roughly divided into three categories: ROV (ROV: Remotely Operated Vehicle), AUV (AUV: Autonomous Underwater Vehicle) and bionic underwater robots. ROV and AUV refer to Underwater robots using traditional propulsion (propeller) methods, bionic underwater robots refer to underwater robots based on bionic principles and using non-traditional propulsion methods. [0003] After a long period of survival of the fittest, the ability of marine organisms in swimming and attitude ...

Claims

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Application Information

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IPC IPC(8): B63H1/36B63G8/00
Inventor 张铭钧刘晓白储定慧赵文德王玉甲范大勇
Owner HARBIN ENG UNIV
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