Sea turtle four-fin flapping imitating type autonomous underwater robot

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.

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...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problems of traditional propellers such as low efficiency, high noise, single thrust direction and poor maneuverability, and propose an autonomous underwater robot with high-efficiency propulsion, flexible maneuverability and low noise.

Images