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
  • Application Information

AI Technical Summary

Problems solved by technology

The movement of this robot turtle is a fixed-period mechanical s

Method used

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

Examples

Experimental program
Comparison scheme
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Example Embodiment

[0022] Embodiment 1: (Some dashed boxes in the drawings can be marked and described as an element, and explain that these elements or units can be solved in many ways in the prior art, otherwise it may be considered as insufficient disclosure. )

[0023] With reference to Figures 1 to 5, this embodiment includes a turtle-shaped streamlined shell, a sensor test unit installed on the front head and shoulders of the turtle-shaped streamlined shell, a control drive unit on the front chest, a power reserve unit on the lower abdomen, and a communication at the back of the tail. The system unit and the forelimb movement unit and the hind limb movement unit. The sensing test unit is composed of a sonar detector, an underwater camera, and multiple light sources. The control drive unit is composed of two controllers, an execution level and a coordination level. The power reserve unit includes a motor drive. The power supply module and the controller power supply module, and the communicatio...

Example Embodiment

[0031] Example 2:

[0032] With reference to Figures 3, 4, and 5, the basic structure of the bionic sea turtle robot of this embodiment is the same as that of embodiment 1. The heave motion is converted on the basis of horizontal linear motion. The implementation scheme is that the forelimbs perform asymmetric hydrofoil swimming. Move; while the hind limbs maintain a gliding state at a certain deflection angle. Taking the robot ascending and swimming as an example, the execution plan of the asymmetric hydrofoil swimming for the forelimbs is: according to the running sequence of the motors in the hydrofoil method described in the previous paragraph, when the front edge of the limb 1 sinks and flaps to the lower end, The motor 22 continues to start clockwise, and rotates 180° to turn the forelimb board 1 to the upper front end of its motion. Then the motor 12 is started, and the water is still being shot backward and downward, and the backward and upward watering of the forelimb is ...

Example Embodiment

[0033] Example 3:

[0034]With reference to Figures 3, 4, and 5, the basic structure of the bionic sea turtle robot of this embodiment is the same as that of embodiment 1. The steering motion is also converted on the basis of horizontal linear motion. The implementation scheme is: when a large turning radius is allowed, the forelimb Continue hydrofoil swimming, and the hind limbs act as steering rudders; when a small turning radius is required, the forelimbs perform single-limbed hydrofoil swimming, and the hind limbs act as steering rudders. The hydrofoil swimming of the forelegs is described above; for the steering function of the hind limbs, the right hind limb is taken as an example. The specific implementation is: the gliding state when advancing horizontally and in a straight line is the initial position. When a right turn is required, the motor 41 rotates 90° clockwise and then stops, so that the hind limb plate 15 turns from a horizontal state to a vertical state. Then the...

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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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