Autonomous navigation return charging method of micro bionic underwater robot and system

Abstract

The invention discloses an autonomous navigation return charging method of a micro bionic underwater robot and a system. Concretely, an ultrasonic emission module transmits ultrasonic waves to the surroundings, and two ultrasonic receivers on a robot body receive the ultrasonic waves. When the two ultrasonic receivers simultaneously receive the ultrasonic signals, it indicates that a fish body moves towards an ultrasonic source; when the two ultrasonic receivers receive the ultrasonic signals at a time difference, a micro-controller controls the robot to steer until the two ultrasonic receivers can receive the ultrasonic signals simultaneously; when the relative position of the robot and a charging base station meets the wireless charging requirement, an electromagnet in the base station is electrified, the induced electromagnet is electrified to fix the fish body for compensation, and the water flow is prevented from affecting the charging effect. The whole method and the charging device are simple and practical, the positioning is convenient and accurate, and thus the problem that the micro bionic underwater robot is difficult to charge underwater is solved.

Description

technical field [0001] The invention relates to the technical field of precise underwater patrolling and autonomous charging, and specifically refers to a method and system for autonomous navigation and return charging of a miniature bionic underwater robot. Background technique [0002] In recent years, the research on micro bionic underwater robots has gained more and more attention. The so-called micro underwater robots usually refer to robots with a length and width within 10cm and a thickness within 5cm. Underwater micro-robots driven by various intelligent materials have many advantages such as no noise, no pollution, high sensitivity, easy miniaturization, easy concealment, and simple structure compared with traditional motor-driven robotic fish. main direction of development. The biomimetic underwater robot based on ICPF (Ionic Conducting Polymer Film) electrically driven material has the advantages of small size, light weight, and difficulty in detection by convent...

AI Technical Summary

Problems solved by technology

[0005] 2. Frequent charging and changing will cause the interface to age, and the leaking waterproof joint will increase the possibility of water leakage in the case of repeated use. Once the water leaks, it will cause a short circuit in the internal circuit of the machine, damage or even destroy the underwater robot.

[0006] 3. Frequent salvage and charging will consume a lot of manpower and material resources, which will increase the experimental cost of robotic fish

These methods either have strict requirements on the environment, or the control algorithm is very complicated

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