Wide-area water flow perception method based on underwater bionic spherical/hemispherical robot swarm
A robot group and robot technology, which is applied to underwater ships, underwater operation equipment, instruments, etc., to achieve the effect of small size, low cost, and improved perception ability
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Embodiment 1
[0041] see Figure 4 , Figure 4It is a schematic diagram of a wide-area water flow perception method based on an underwater bionic spherical / hemispherical robot group provided by the present invention. The wide-area water flow perception method based on the underwater bionic spherical / hemispherical robot group of the present invention includes:
[0042] Step 1: Determine the headwater surface pressure sensor in the pressure sensor array 12, read the data of the headwater surface pressure sensor, and calculate the pressure sensed by each headwater surface pressure sensor;
[0043] Step 2, compare the pressures sensed by the pressure sensors on the upstream surface and the pressure F of the water flow on the upstream surface of the robot 100 W , and the angle α between the vertical direction of the sensing surface of the pressure sensor with the largest reading and the water flow direction as parameters to establish an equation system to solve the water flow direction and wat...
Embodiment 2
[0045] like Figure 5-6 As shown, the pressure sensor array 12 of the underwater bionic spherical / hemispherical robot 100 of the present invention includes 12 pressure sensors. Taking the robot 100 moving forward as an example, the pressure sensor P on the water-facing surface i ,…,P i+5 Under the action of water impact, the pressure increases to form a positive pressure area; the pressure value of the pressure sensor on the backwater surface decreases, forming a negative pressure area. Specifically, the pressure of the water flow on the upstream surface of the robot 100 is F W , the tangential and radial components of each pressure sensor 14 along the spherical / hemispherical housing 10 are F, respectively L i ,…,F L i+5 and F P i ,…,F P i+5 . However, the pressure sensor 14 can only sense radial pressure. The pressure measured by each pressure sensor on the water-facing surface of the robot 100 is p 0 i ,...,p 0 i+5 , the water flow pressure measured by each pr...
Embodiment 3
[0058] see Figure 9 , an underwater bionic spherical / hemispherical robot 100, comprising a processor 301, a memory 302, and a computer program stored in the memory 302 and configured to be executed by the processor 301, the processor 301 executing the When the computer program is described, the above-mentioned pose perception method is realized.
[0059] Exemplarily, the computer program can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 302 and executed by the processor 301 to complete the present invention. invention. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the robot 100 .
[0060] According to the embodiment of the present invention, in order to realize the acquisition of the real-time information of the water flow in the wide-area ...
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