Fish-shaped bionic underwater robot and control method thereof

Abstract

The invention relates to a fish-shaped bionic underwater robot and a control method thereof, and belongs to the technical field of bionic robots. The device comprises a sealed shell, the back of the shell is connected with dorsal fins, the tail is connected with tail fins, the bottom is connected with anal fins, and the left side and the right side are connected with pectoral fins; the tail fins are symmetrically arranged on the left side and the right side of the shell, and when the robot moves, the two tail fins synchronously and reversely move; according to the fish-shaped bionic underwaterrobot, a double-tail-fin driving mode is adopted, the structure is compact, steering is flexible and quick, and the maneuverability and stability of the bionic robot are improved.

Description

technical field [0001] The invention relates to a fish-shaped bionic underwater robot and a control method thereof, belonging to the technical field of bionic robots. Background technique [0002] The ocean area of ​​the earth is 361 million square kilometers, accounting for about 71% of the total area of ​​the earth. The vast ocean contains rich mineral resources, and the reserves of species resources in the ocean are huge. As resources become the focus of attention on a global scale As well as the development of marine survey technology, the development and utilization of marine resources has become the focus of attention of countries all over the world; the development of marine economy and resources is currently in a stage of rapid development, and underwater robots, which are closely related to the development of marine economy, are also in vigorous development Expect. [0003] Underwater robots are mainly divided into propeller propulsion and bionic propulsion accordi...

AI Technical Summary

Problems solved by technology

[0004] According to the different body parts used by fish swimming, fish swimming can be divided into body-caudal fin propulsion mode (BCF) and mid-fin-pair fin propulsion mode (MPF). The body-caudal fin swing mode is the fastest propulsion mode, The most efficient propulsion mode, the fastest fish in the ocean adopt this propulsion mode; in the BCF mode, the caudal fin propulsion is mainly based on the single caudal fin, and the single caudal fin propulsion has the advantages of simple structure and easy control, but the single caudal fin When swinging, there will inevitably be obvious lateral force, which will cause obvious yaw phenomenon during the movement of the robot fish, which will affect its propulsion efficiency and speed

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