Sea turtle four-fin flapping imitating type autonomous underwater robot

A technology for underwater robots and sea turtles, applied to underwater ships, underwater operating equipment, motor vehicles, etc., can solve problems such as single thrust direction, low propeller efficiency, and poor maneuverability, and achieve good maneuverability, simple structure, and realization easy effect

CN103085955AInactive Publication Date: 2013-05-08BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2013-05-08
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a sea turtle four-fin flapping imitating type autonomous underwater robot which comprises a body part, a head part and a tail part. The front side and the back side of the body part are connected with moving fins through fin limbs. Each flapping fin is driven and controlled independently. The head part and the tail part are respectively arranged in front of and behind the body part. Full-view fisheye lenses for acquiring front images and upper images are respectively arranged in the head part and on the body part. A height measuring sonar for acquiring height and a pressure sensor for acquiring depth are arranged in the head part. A global position system (GPS) antenna for locating is arranged in the tail part, and accordingly water area conditions in front and on the upper portion can be monitored in real time, height data between the robot and the seabed can be measured in real time, and obstacle conditions and the like in front can be monitored. The underwater robot is further provided with an attitude and heading reference system (AHRS), self attitude can be sensed in real time, active control of attitude and heading can be achieved, and the underwater robot has the advantages that a driving mode of sea turtle four-fin flapping imitating pushing is used, maneuverability is good, noise is low, structure is simple, and implementation is simple.
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Description

technical field

[0001] The invention relates to a flapping four-fin autonomous underwater robot imitating a sea turtle, which belongs to the technical field of underwater robots. Background technique

[0002] With the depletion of resources on land, the ocean will become the source of human resources such as minerals, energy, and food. However, the development of marine resources requires the support of a series of technologies and equipment. As a powerful tool for human beings to explore the ocean, underwater robots can detect, identify and operate in depths and breadths that humans cannot reach. It has broad application prospects in fields such as offshore oil development, mineral deposit investigation, underwater fault detection, and salvage operations.

[0003] The propulsion methods of underwater robots are usually propeller type and bionic fin type. Propeller propulsion is a mature traditional underwater propulsion technology, so it is the most widely used, but it ha...

Examples

Embodiment Construction

[0036] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0037] An autonomous underwater robot imitating sea turtle four-fin flapping, such as figure 1 , figure 2 , image 3 As shown, it includes a body 1 , a head 2 , a tail 3 , a counterweight mechanism 4 , flippers 5 , flapping fins 6 , sensing and mounting equipment 7 and a control system 8 . The body 1 is a cylindrical structure, the front end and the rear end are respectively sealed by the head connector 101 and the tail connector 102; the front end of the head connector 101 is connected with a mechanical head; The sensing and mounting device 7 includes a panoramic fisheye lens A701, a panoramic fisheye lens B702, an altimetry sonar 703, a light source 704 and a pressure sensor 705 for assisting the movement and detection of the underwater robot. The underwater robot is controlled and powered by the control system 8 , and the control system include...